@article{Chung2019risk, 
  author={Chung, Jen Jen and Smith, Andrew J and Skeele, Ryan and Hollinger, Geoffrey A.}, 
  title={Risk-aware graph search with dynamic edge cost discovery},  
  journal={The International Journal of Robotics Research},
  year={2019},
  pages={182--195},
  volume={38},
  number={2--3},
  doi={10.1177/0278364918781009},
  URL={https://doi.org/10.1177/0278364918781009}
}