Conflict resolution for air traffic management: a study in multiagent hybrid systems. Tomlin, C. J., Pappas, G., & Sastry, S. S. IEEE Trans. Autom. Control, 43(4):509–521, 1998.
bibtex   
@Article{SCC.Tomlin.Pappas.ea1998,
  author    = {Tomlin, C. J. and Pappas, G. and Sastry, S. S.},
  title     = {Conflict resolution for air traffic management: a study in multiagent hybrid systems},
  journal   = {IEEE Trans. Autom. Control},
  year      = {1998},
  volume    = {43},
  number    = {4},
  pages     = {509--521},
  owner     = {wdixon},
  timestamp = {2010.06.02},
}

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