@article{aoudeLJRH13,
  author    = {Georges Aoude and
               Brandon Luders and
               Joshua Joseph and
               Nicholas Roy and
               Jonathan P. How},
  title     = {Probabilistically safe motion planning to avoid dynamic
               obstacles with uncertain motion patterns},
  journal   = {Auton. Robots},
  volume    = {35},
  number    = {1},
  year      = {2013},
  pages     = {51-76}
}