# Constraint-based task programming with CAD semantics: From intuitive specification to real-time control

> Research article (2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015) · cited 18× · AI/ML

**Wikidata**: [openalex:W2216968212](https://www.wikidata.org/wiki/openalex:W2216968212)  
**Source**: https://4ort.xyz/entity/constraint-based-task-programming-with-cad-semantics-from-intuitive-specification-to-real-time-control