@inproceedings{shoukry2017closed,
  title={Closed-form controlled invariant sets for pedestrian avoidance},
  author={Shoukry, Yasser and Tabuada, Paulo and Tsuei, Stephanie and Milam, Mark B and Grizzle, Jessy W and Ames, Aaron D},
  booktitle={American Control Conference (ACC), 2017},
  pages={1622--1628},
  year={2017},
  organization={IEEE},
  url ={http://ames.caltech.edu/shoukry2017closed.pdf},
  keywords = {Planning, Cyber-Physical Systems (CPS), Automotive Systems}
}

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