@article {doi:10.1117/12.919265,
	title = {Constraint-based semi-autonomy for unmanned ground vehicles using local sensing},
	year = {2012},
	pages = {83870K-83870K-8},
	doi = {10.1117/12.919265},
	url = {http://dx.doi.org/10.1117/12.919265},
	author = {Anderson, S. and Sisir Karumanchi and Bryan Johnson and Victor Perlin and Mitchell Rohde and Karl Iagnemma}
}