@INPROCEEDINGS{9197195,
  author={Desai, Arjav and Michael, Nathan},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  title={Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees},
  year={2020},
  volume={},
  number={},
  pages={8769-8775},
  doi={10.1109/ICRA40945.2020.9197195}}