@inbook {BP00-WAFR,
	title = {Optimal planning for coordinated vehicles with bounded curvature},
	booktitle = {Algorithmic and Computational Robotics: New Directions},
	volume = {1},
	year = {2000},
	note = {<p>The Workshop on Algorithmic Foundations of Robotics</p>
},
	pages = {167-172},
	publisher = {A K Peters, MA},
	organization = {A K Peters, MA},
	abstract = {<p>In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.</p>
},
	keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning},
	author = {A. Bicchi and L. Pallottino},
	editor = {B. Donald and K. Lynch and D. Rus}
}
