Trautman, Peter, and Karankumar Patel. “Real Time Crowd Navigation from First Principles of Probability Theory”. Proceedings of the International Conference on Automated Planning and Scheduling 30, no. 1 (June 1, 2020): 459-467. Accessed August 8, 2022. https://ojs.aaai.org/index.php/ICAPS/article/view/6741.