This is a paper by Z. J. Chong, B. Quin, T. Bandyopadhyay, T. Wongpiromsarn, E. S. Rankin, M. H. Ang Jr., E. Frazzoli, D. Rus, D. Hsu, and K. H. Low.
Link to the paper: https://pnavhe11.irccyn.ec-nantes.fr/material/session1/Bandyopadhyay/Bandyopadhyay_paper.pdf