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Bastian Schürmann, Daniel Hess, Jan Eilbrecht, Olaf Stursberg, Frank Köster, Matthias Althoff. Ensuring drivability of planned motions using formal methods. In 20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017, Yokohama, Japan, October 16-19, 2017. pages 1-8, IEEE, 2017. [doi]

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