Chen, Jingkai, Jiaoyang Li, Chuchu Fan, and Brian C. Williams. “Scalable and Safe Multi-Agent Motion Planning With Nonlinear Dynamics and Bounded Disturbances”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 13 (May 18, 2021): 11237-11245. Accessed October 19, 2021. https://ojs.aaai.org/index.php/AAAI/article/view/17340.