@inbook{van_den_Berg_2011,
title={Reciprocal n-Body Collision Avoidance},
ISBN={9783642194573},
ISSN={1610-742X},
url={http://dx.doi.org/10.1007/978-3-642-19457-3_1},
DOI={10.1007/978-3-642-19457-3_1},
booktitle={Robotics Research},
publisher={Springer Berlin Heidelberg},
author={van den Berg,
Jur and Guy,
Stephen J. and Lin,
Ming and Manocha,
Dinesh},
year={2011},
pages={3–19} }