@article{variationalcollisionandobstacleavoidance,
  title = {Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds},
  year = {2019},
  eprint = {1910.04995},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1910.04995v1},
}