McNinch, Lucas, A. Soltan Reza, R. Muske Kenneth, Hashem Ashrafiuon, and C. Peyton James. 2013. “Real-Time Coordinated Trajectory Planning and Obstacle Avoidance for Mobile Robots”. Journal of Automation, Mobile Robotics and Intelligent Systems 5 (1): 23-29. https://www.jamris.org/index.php/JAMRIS/article/view/148.