@inproceedings{malone2014stochastic,
  title={Stochastic reachability based motion planning for multiple moving obstacle avoidance},
  author={Malone, Nick and Lesser, Kendra and Oishi, Meeko and Tapia, Lydia},
  booktitle={Proceedings of the 17th international conference on Hybrid systems: computation and control},
  pages={51--60},
  year={2014},
  organization={ACM}
}