N. Somani, M. Rickert, A. Gaschler, C. Cai, A. Perzylo, and A. Knoll, “Task Level Robot Programming Using Prioritized Non-linear Inequality Constraints,” in Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, IEEE, Oct. 2016, pp. 430–437, DOI: 10.1109/IROS.2016.7759090.