@misc{149601, author = {David Coombs and Martin Herman and Tsai and M Nashman}, title = {Real-time Obstacle Avoidance Using Central Flow Divergence and Peripheral Flow}, year = {1995}, month = {1995-02-01}, publisher = {NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD}, url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820494}, language = {en}, }