@mastersthesis{Desaraju10_Masters, 
	address = {Cambridge MA},
	author = {Desaraju, Vishnu R.},
	keywords = {path planning; RRT},
	month = {September},
	school = {Massachusetts Institute of Technology, Department of Aeronautics and Astronautics},
	title = {Decentralized Path Planning for Multiple Agents in Complex Environments Using Rapidly-Exploring Random Trees},
	url = {http://acl.mit.edu/papers/DesarajuSM.pdf},
	year = {2010}
}