@InProceedings{LIS1,
title = {Collision-Free State Estimation},
author = {Lawson L.S. Wong and Leslie P. Kaelbling and Tomas Lozano-Perez},
year = {2012},
url = {http://lis.csail.mit.edu/pubs/tlp/ICRA12_1987_FI.pdf},
booktitle = {IEEE Conference on Robotics and Automation (ICRA)},
}