@INPROCEEDINGS{Kessler-AMS-2012,
  author = {Kessler, Jens and Strobel, Juergen and Gross, Horst-Michael},
  title = {Using a Spatio-Temporal FastMarching Planner to Politely Avoid Moving
    Persons},
  booktitle = {Autonomous Mobile Systems 2012 (AMS)},
  year = {2012},
  pages = {59--67},
  series = {Informatik aktuell},
  publisher = {Springer}
}