@conference {DBLP:conf/icra/CowlagiT12,
	title = {Hierarchical Motion Planning with Kinodynamic Feasibility Guarantees: Local trajectory Planning via Model Predictive Control},
	booktitle = {ICRA},
	year = {2012},
	author = {Raghvendra V. Cowlagi and Panagiotis Tsiotras}
}