@InProceedings{LJ-TH-MP:2018,
  title={Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies},
  author={Janson, Lucas and Hu, Tommy and Pavone, Marco},
  booktitle={Robotics: Science and Systems},
  year={2018},
  address={Pittsburgh, USA},
  month={June},
  note={To appear}
}