asterisk users - Aug 2005 - How do I pick up a specific call from a queue?

My external application wants to instruct asterisk to transfer a
specific call, that waits in a queue, to a specific extension.

For instance:

1) 10 people dial into a queue.
2) My application has logged this, and knows that the 4th person
should go into another queue.
3) My application tells asterisk to move that 4th person to another
extension, where that person will be put into another queue.

I have browsed the documentation a lot, but I cannot find out how to
pick up a call from a queue. AGI doesn't seem to be a possibility, but
may the asterisk manager can do it?

Any ideas, anyone?

Lars Dybdahl.