@InProceedings{Senanayake2019rssworkshop,
  author    = {Ransalu Senanayake and Maneekwan Toyungyernsub and Mingyu Wang and Mykel J. Kochenderfer and Mac Schwager},
  booktitle = {Workshop on Scene and Situation Understanding for Autonomous Driving, } # RSS,
  title     = {Directional primitives for uncertainty-aware motion prediction in urban environments},
  year      = {2019},
  url       = {https://arxiv.org/abs/2007.00161},
}

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