@article{herbert2017fastrack, title={FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning}, author={Herbert, Sylvia L and Chen, Mo and Han, SooJean and Bansal, Somil and Fisac, Jaime F and Tomlin, Claire J}, booktitle={56th Conference on Decision and Control (CDC)}, year={2017}, organization={IEEE} }