@article{chiangaggressive,
  title={Aggressive Moving Obstacle Avoidance Using a Stochastic Reachable Set Based Potential Field},
  author={Chiang, Hao-Tien and Malone, Nick and Lesser, Kendra and Oishi, Meeko and Tapia, Lydia}
  journal={Workshop on the Algorithmic Foundations of Robotics},
  year={2014}
}