@article{efficientmultiagenttrajectoryplanning,
  title = {Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein Polynomial},
  year = {2019},
  eprint = {1909.10219},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.10219v2},
}