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Campbell, Mark and Egerstedt, Magnus and How, Jonathan P. et al. (2010) Autonomous driving in urban environments: approaches, lessons and challenges. Philosophical Transactions A: Mathematical, Physical and Engineering Sciences, 368 (1928). pp. 4649-4672. ISSN 1364-503X . http://resolver.caltech.edu/CaltechAUTHORS:20101029-082222753

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