@article{chen2016robust,
  title={Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder},
  author={Chen, Mo and Bansal, Somil and Fisac, Jaime F and Tomlin, Claire J},
  journal={IEEE Transactions on Control Systems Technology},
  number={99},
  pages={1--17},
  year={2018},
  publisher={IEEE}
}