Exploiting Hierarchy for Scalable Decision Making in Autonomous Driving. Sonu, E., Sunberg, Z., & Kochenderfer, M. J. In Intelligent Vehicles Symposium, Changshu, 2018.
bibtex   
@inproceedings{sonu2018hierarchy,
    title={Exploiting Hierarchy for Scalable Decision Making in Autonomous Driving},
    author={Sonu, Ekhlas and Sunberg, Zachary and Kochenderfer, Mykel J.},
    author+an={2=zach},
    booktitle={Intelligent Vehicles Symposium},
    year={2018},
    address={Changshu}
}

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