@InProceedings{escande:iros:2009,
  author    = {Adrien Escande and Abderrahmane Kheddar},
  title     = {Contact planning for acyclic motion with tasks constraints},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2009},
  pages     = {435-440},
  address   = {St. Louis (MO), USA},
  month     = {October 11-October 15},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2009\_IROS\_Escande.pdf},
  doi       = {10.1109/IROS.2009.5354371}
}