Jonathan Sprinkle, J. Mikael Eklund, Humberto González, Esten Ingar Grøtli, Ben Upcroft, Alexei Makarenko, Will Uther, Michael Moser, Robert Fitch, Hugh F. Durrant-Whyte, Shankar Sastry. Model-based design: a report from the trenches of the DARPA Urban Challenge. Software and Systems Modeling, 8(4):551-566, 2009. [doi]
Abstract is missing.