@inproceedings{ratliffRieMOICRA2015,
  title = {Understanding the Geometry of Workspace Obstacles in Motion Optimization},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  month = mar,
  year = {2015},
  slug = {-9c0789ef-55e4-4635-ad2b-5c29c5560147},
  author = {Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan},
  month_numeric = {3}
}