Obstacle avoidance in a dynamic environment: A collision cone approach. Chakravarthy, A. & Ghose, D. IEEE Trans. Syst. Man Cybern. Part A Syst. Humans, 28(5):562–574, IEEE, 1998.
bibtex   
@Article{SCC.Chakravarthy.Ghose1998,
  author    = {Chakravarthy, Animesh and Ghose, Debasish},
  title     = {Obstacle avoidance in a dynamic environment: A collision cone approach},
  journal   = {IEEE Trans. Syst. Man Cybern. Part A Syst. Humans},
  year      = {1998},
  volume    = {28},
  number    = {5},
  pages     = {562--574},
  file      = {:SCC.Chakravarthy.Ghose1998.pdf:PDF},
  keywords  = {DESI},
  publisher = {IEEE},
}
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