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@misc{chen2020reactive,
  title={Reactive motion planning with probabilistics safety guarantees},
  author={Chen, Yuxiao and Rosolia, Ugo and Fan, Chuchu and Ames, Aaron D and Murray, Richard},
  journal={arXiv preprint arXiv:2011.03590},
  year={2020},
  url = {http://ames.caltech.edu/chen2020reactive.pdf}
}