@inbook{Bee15, author = {Beetz, M. and Langer, H. and Nyga, D.}, editor = {Jeschke, S. and Schmitt, R. and Dr{\"o}ge, A.}, title = {Planning Everyday Manipulation Tasks – Prediction-based Transformation of Structured Activity Descriptions}, chapter = {}, pages = {63-83}, publisher = {Springer Fachmedien Wiesbaden}, year = {2015}, volume = {}, doi = {10.1007/978-3-658-11755-9_4}, note = {published in Book 'Exploring Cybernetics'} }