Formal Methods for Semi-Autonomous Driving. Seshia, S. A., Sadigh, D., & Sastry, S. S. In Proceedings of the Design Automation Conference (DAC), pages 1–5, June, 2015. ACM.
doi  bibtex   
@inproceedings{seshia2015formal,
  title = {Formal Methods for Semi-Autonomous Driving},
  author = {Seshia, Sanjit A. and Sadigh, Dorsa and Sastry, S. Shankar},
  booktitle = {Proceedings of the Design Automation Conference ({DAC})},
  pages = {1--5},
  year = {2015},
  month = jun,
  publisher = {ACM},
  doi = {10.1145/2744769.2747927}
}

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