@inproceedings{Somani2016a,
	author = {Nikhil Somani and Markus Rickert and Andre Gaschler and Caixia Cai and Alexander Perzylo and Alois Knoll},
	title = {Task level robot programming using prioritized non-linear inequality constraints},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	note = {\url{https://youtu.be/baet9IkTK04}, \url{https://github.com/nsomani/constraint-controller-library}},
	address = {Daejeon, Republic of Korea},
	month = {October},
	year = {2016},
	doi = {10.1109/IROS.2016.7759090}
}