[IEEE 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation - Orlando, FL, USA (12-15 Oct. 1997)] 1997 IEEE International Conference on Systems, Man, and Cybernetics. Computational Cybernetics and Simulation - Collision avoidance as a differential game: real-time approximation of optimal strategies using higher derivatives of the value function

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