Jur P. van den Berg Mark H. Overmars Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles. 103-118 2006 WAFR http://dx.doi.org/10.1007/978-3-540-68405-3_7 conf/wafr/2006 db/conf/wafr/wafr2006.html#BergO06