@inbook{Skeele2016risk,
  author={Skeele, Ryan and Chung, Jen Jen and Hollinger, Geoffrey A.},
  title={Risk-aware graph search with dynamic edge cost discovery},
  booktitle={Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics},
  year={2020},
  pages={320--335},
  doi={10.1007/978-3-030-43089-4_21},
  url={https://doi.org/10.1007/978-3-030-43089-4_21}
}