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This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object in the world, including grasping and insertion. The decision process is applied to a robot hand with tactile sensors, to localize the object and ultimately achieve a target placement by selecting among grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot.
Hsiao et al. (2010) studied this question.