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Bibtex Entry:

@article{lim2011stochastic,
   author =       "Sejoon Lim and Hari Balakrishnan and David Gifford and Samuel Madden and Daniela Rus",
   title =        "{Stochastic motion planning and applications to traffic }",
   journal =      {International Journal of Robotic Research - IJRR },
   year =         {2011},
   month =        {December},
}