title = {Mathematical programming for Multi-Vehicle Motion Planning problems},
  booktitle = {Robotics and Automation (ICRA), 2012 IEEE International Conference on},
  year = {2012},
  month = may,
  pages = {3315-3322},
  keywords = {collision avoidance, communication connectivity, Kinematics, mathematical programming, multi-robot systems, multivehicle motion planning, MVMP problem, optimisation, optimization, path planning, Planning, robot kinematics, target tracking, Trajectory, vehicles},
  issn = {1050-4729},
  doi = {10.1109/ICRA.2012.6225141},
  author = {Abichandani, Pramod and Ford, G. and Benson, Hande Y. and Kam, Moshe}