@article{chen2017simulation,
  title={Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in {San Francisco} and the {Bay Area}},
  author={Chen, Mo and Bansal, Somil and Tanabe, Ken and Tomlin, Claire J},
  journal={arXiv preprint arXiv:1705.04585},
  year={2017}
}