@article{wooden07:hybridsystemarchitautonurbandrivin,
  author        = {D. Wooden and M. Powers and M. Egerstedt and H. Christensen and T. Balch},
  category      = {Journal},
  journal       = {Journal of Aerospace Computing, Information, and Communication},
  month         = dec,
  number        = 12,
  pages         = {1047--1058},
  title         = {Hybrid System Architecture for Autonomous, Urban Driving},
  volume        = 4,
  year          = 2007
}

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