Exploiting hierarchy for scalable decision making in autonomous driving. Sonu, E., Sunberg, Z., & Kochenderfer, M. J. In IEEE Intelligent Vehicles Symposium (IV), 2018.
bibtex   
@InProceedings{Sonu2018,
  author    = {Ekhlas Sonu and Zachary Sunberg and Mykel J. Kochenderfer},
  title     = {Exploiting hierarchy for scalable decision making in autonomous driving},
  booktitle = iv,
  year      = {2018},
}

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