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Campbell, Mark et al. (2010) Autonomous driving in urban environments: approaches, lessons and challenges. Philosophical Transactions of the Royal Society of London. Series 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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