Joris De Schutter Johan Rutgeerts Erwin Aertbeliën Friedl De Groote Tinne De Laet Tine Lefebvre Walter Verdonck Herman Bruyninckx Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems. 3607-3612 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#SchutterRAGLLVB05