@inproceedings{ijcai1999p159,
  title     = {Multiple Path Coordination for Mobile Robots: A Geometric Algorithm},
  author    = {Leroy, Stéphane and Laumond, Jean-Paul and Siméon, Thierry},
  booktitle = {Proceedings of the Sixteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-99}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Thomas Dean},
  pages     = {1118--1122},
  year      = {1999},
  note      = {Robotics and Perception},
  url       = {https://ijcai.org/proceedings/1999/159},
}