@inproceedings{Undurti11_ICRA, 
	author = {Undurti, A. and How, J. P.},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	organization = {IEEE},
	pages = {2534--2539},
	title = {A decentralized approach to multi-agent planning in the presence of constraints and uncertainty},
	year = {2011}
}