@inproceedings{ratliffRieMOICRA2015, title = {Understanding the Geometry of Workspace Obstacles in Motion Optimization}, author = {Ratliff, Nathan and Toussaint, Marc and Schaal, Stefan}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation}, month = mar, year = {2015}, doi = {}, month_numeric = {3} }