Published in
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.1109/iros.2016.7759090
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Task level robot programming using prioritized non-linear inequality constraints
Proceedings article published in 2016 by
Nikhil Somani,
Markus Rickert,
Andre Gaschler,
Caixia Cai,
Alexander Perzylo,
Alois Knoll 
