$ cd [ROS_workspace]/src
$ git clone https://github.com/hai-zhu/obstacle_estimator.git
$ cd ..
$ catkin_make

$ roslaunch obstacle_estimator obstacle_estimator_multiple.launch

$ roslaunch obstacle_estimator obstacle_prediction_multiple.launch

@article{Zhu2019RAL,
    title = {{Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments}},
    author = {Zhu, Hai and Alonso-Mora, Javier},
    journal = {IEEE Robotics and Automation Letters},
    number = {2},
    volume = {4},
    pages = {776--783},
    publisher = {IEEE},
    year = {2019}
}