@INPROCEEDINGS{9197167,
  author={Collins, Matthew and Michael, Nathan},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  title={Efficient Planning for High-Speed MAV Flight in Unknown Environments Using Online Sparse Topological Graphs},
  year={2020},
  volume={},
  number={},
  pages={11450-11456},
  doi={10.1109/ICRA40945.2020.9197167}}