@inproceedings{Somani2015b,
	author = {Nikhil Somani and Andre Gaschler and Markus Rickert and Alexander Perzylo and Alois Knoll},
	title = {Constraint-Based Task Programming with {CAD} Semantics: From Intuitive Specification to Real-Time Control},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	note = {\url{https://youtu.be/qRJ1JmNoFEw}},
	address = {Hamburg, Germany},
	month = {September},
	year = {2015},
	doi = {10.1109/IROS.2015.7353770}
}