Before revision:  In this paper, the authors propose a model-driven  feedback control policy for multiple POV's to propagate efficient adversarial trajectories online while respecting traffic rules and other concerns formulated as  admissible state-action space.
After revision:  In this paper, the authors propose a model-driven feedback control policy for multiple POVs which propagates efficient adversarial trajectories online while respecting traffic rules and other concerns formulated as admissible state-action space.