(:notitlegroup:) 

   @article{woerner2014,
    title     = {Safety and Efficiency Analysis of Autonomous Collision Avoidance Using
                Multi-objective Optimization with Interval Programming},
    author    = {Kyle Woerner and Michael Benjamin},
    journal   = {Naval Engineers Journal},
    publisher = {American Society of Naval Engineers},
    pages     = {163--168},
    number    = {4},
    volume    = {126},
    year      = {2014}}