title = {Multi-vehicle path coordination in support of communication},
  booktitle = {Robotics and Automation, 2009. ICRA {\textquoteright}09. IEEE International Conference on},
  year = {2009},
  month = may,
  pages = {3237 {\textendash}3244},
  keywords = {collision avoidance, discrete time nonlinear programming problem, discrete time systems, mobile robots, multi-robot systems, multivehicle path coordination, nonlinear programming, partition elimination constraint, path-constrained jammer robot, path-constrained mobile vehicle robot, robot communication connectivity, robot dynamics, robot kinematics, time optimal control, time-optimal velocity},
  author = {Abichandani, Pramod and Benson, Hande Y. and Kam, Moshe}