@conference {1758,
	title = {A time expanded network based algorithm for safe and efficient distributed multi-agent coordination},
	booktitle = {IEEE Conference on Decision and Control},
	year = {2013},
	pages = {2805 - 2810},
	address = {Florence, Italy},
	keywords = {Robotics},
	author = {M. Ferrati and L. Pallottino}
}
