Liying Yang Jianda Han Chendong Wu Yiyong Nie A solution of mixed integer linear programming for obstacle-avoided pursuit problem. 110-116 2008 IJCNN http://dx.doi.org/10.1109/IJCNN.2008.4633775 conf/ijcnn/2008 db/conf/ijcnn/ijcnn2008.html#YangHWN08