@article{Dhawale2018iros,
  title={Reactive Collision Avoidance Using Real-Time Local Gaussian Mixture Model Maps},
  author={Aditya Dhawale and Xuning Yang and Nathan Michael},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={3545-3550}
}