@INPROCEEDINGS{VPHWT08,
  AUTHOR = {Michael P. Vitus and Vijay Pradeep and Gabriel M. Hoffmann and Steven L. Waslander and Claire J. Tomlin},
  TITLE = {Tunnel-MILP: Path Planning with Sequential Convex Polytopes},
  BOOKTITLE = {Proceedings of the AIAA Guidance, Navigation, and Control Conference},
  MONTH = {August},
  YEAR = {2008},
  ADDRESS = {Honolulu, HI},
  NOTE = {AIAA Paper Number 2008-7132},
}