@article{Dragan2018, author = "Anca Dragan and Nathan Ratliff and Siddhartha Srinivasa", title = "{Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization}", year = "2018", month = "6", url = "https://kilthub.cmu.edu/articles/journal_contribution/Manipulation_Planning_with_Goal_Sets_Using_Constrained_Trajectory_Optimization/6555482", doi = "10.1184/R1/6555482.v1" }