Formal verification of obstacle avoidance and navigation of ground robots

@ARTICLE{DBLP:journals/ijrr/MitschGVP17,
	pdf = {pub/morerobix.pdf},

  author    = {Stefan Mitsch and
               Khalil Ghorbal and
               David Vogelbacher and
               Andr{\'e} Platzer},
  title     = {Formal Verification of Obstacle Avoidance
               and Navigation of Ground Robots},
  journal   = {I. J. Robotics Res.},
  longjournal={International Journal of Robotics Research},
  volume    = {36},
  number    = {12},
  pages     = {1312-1340},
  year      = {2017},
  doi       = {10.1177/0278364917733549},
  arXiv     = {1605.00604}
}```