@article{woerner19autrobots,
title = {Quantifying Protocol Evaluation for Autonomous Collision Avoidance},
author = {Kyle Woerner and Michael R. Benjamin and and Michael Novitzky and John J.
Leonard},
journal = {Autonomous Robots},
pages = {967-991},
number = {4},
volume = {43},
month = {April},
year = {2019}}