@INPROCEEDINGS{Vahrenkamp12,
  author = {Peter Kaiser and Dmitry Berenson and Nikolaus Vahrenkamp and Tamim Asfour and R\"udiger Dillmann and Siddhartha Srinivasa},
  title = {Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints},
  booktitle = {ICRA},
  year = {2012},
  pages = {436--443}
}