@misc{sun2024diagrammaticinstructionsspecifyspatial,
      title={Diagrammatic Instructions to Specify Spatial Objectives and Constraints with Applications to Mobile Base Placement}, 
      author={Qilin Sun and Weiming Zhi and Tianyi Zhang and Matthew Johnson-Roberson},
      year={2024},
      eprint={2403.12465},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2403.12465}, 
}