@inproceedings{MuSaBhHuLa04,
  author={R. Murrieta-Cid and A. Sarmiento and S. Bhattacharya and S. Hutchinson},
  title={Maintaining Visibility of a Moving Target at a Fixed 
Distance: The Case of Observer Bounded Speed},
  booktitle={Proc. IEEE International Conference on Robotics and Automation},
  pages={479--484},
  year={2004}}