diff --git a/Python/runTestSuite.py b/Python/runTestSuite.py
new file mode 100644
index 0000000000000000000000000000000000000000..a855b180f261891d0e2eb94fb4caf3ec1e87501a
--- /dev/null
+++ b/Python/runTestSuite.py
@@ -0,0 +1,11 @@
+import sys
+# Add the ptdraft folder path to the sys.path list
+sys.path.append('unitTests')
+
+from test_derivatives import test_derivatives
+from test_zeroInitialVelocity import test_zeroInitialVelocity
+
+#run tests
+res = test_derivatives()
+res = test_zeroInitialVelocity()
+
diff --git a/documentation/althoff_other.bib b/documentation/althoff_other.bib
new file mode 100644
index 0000000000000000000000000000000000000000..ddb08cb7297b89a20c320b55c5a413135ec48a07
--- /dev/null
+++ b/documentation/althoff_other.bib
@@ -0,0 +1,10657 @@
+% This file was created with JabRef 2.7b.
+% Encoding: UTF-8
+
+@INPROCEEDINGS{Gupta2004,
+ author = {S. Gupta and B.~H. Krogh and R.~A. Rutenbar},
+ title = {Towards Formal Verification of Analog Designs},
+ booktitle = {International Conference on Computer-Aided Design},
+ year = {2004},
+ pages = {210-217},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ crossref = {DBLP:conf/iccad/2004},
+ ee = {http://doi.acm.org/10.1145/1112239.1112278},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@INPROCEEDINGS{AlSammane2007,
+ author = {G. Al Sammane and M.~H. Zaki and S. Tahar},
+ title = {A Symbolic Methodology for the Verification of Analog and Mixed Signal
+ Designs},
+ booktitle = {Proc. of Design, Automation \& Test in Europe},
+ year = {2007},
+ pages = {249-254},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ crossref = {DBLP:conf/date/2007},
+ ee = {http://doi.acm.org/10.1145/1266366.1266420},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@INPROCEEDINGS{Zaki2007,
+ author = {M.~H. Zaki and G. Al Sammane and S. Tahar and G. Bois},
+ title = {Combining Symbolic Simulation and Interval Arithmetic for the Verification
+ of {AMS} Designs},
+ booktitle = {Formal Methods in Computer-Aided Design},
+ year = {2007},
+ pages = {207-215},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ crossref = {DBLP:conf/fmcad/2007},
+ ee = {http://doi.ieeecomputersociety.org/10.1109/FMCAD.2007.17},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@PHDTHESIS{vanOsch2009,
+ author = {M.~P.~W.~J. {van Osch}},
+ title = {Automated Model-based Testing of Hybrid Systems},
+ school = {Technische Universiteit Eindhoven},
+ year = {2009},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@INPROCEEDINGS{vanTil1985,
+ author = {R. {van Til} and W.~E. Schmitendorf},
+ title = {Constrained Controllability of Discrete-Time Systems with Additive
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+ year = {1985},
+ pages = {874-875},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{vanTil1986,
+ author = {R.~P. {van Til} and W.~E. Schmitendorf},
+ title = {Constrained Controllability of Discrete-Time Systems},
+ journal = {International Journal of Control},
+ year = {1986},
+ volume = {43},
+ pages = {941-956},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Thrun2006,
+ author = {S. Thrun et al.},
+ title = {Stanley: The Robot that Won the DARPA Grand Challenge},
+ journal = {Journal of Field Robotics},
+ year = {2006},
+ volume = {23},
+ pages = {661-692},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@ARTICLE{Sucan2012,
+ author = {I.~A. \c{S}ucan and M. Moll and L.~E. Kavraki},
+ title = {The Open Motion Planning Library},
+ journal = {IEEE Robotics \& Automation Magazine},
+ year = {2012},
+ volume = {19},
+ pages = {72-82},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@ARTICLE{Eggers2012,
+ author = {A.Eggers and N. Ramdani and N.~S. Nedialkov and M. Fr{\"a}nzle},
+ title = {Improving the SAT Modulo ODE Approach to Hybrid Systems Analysis
+ by Combining Different Enclosure Methods},
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+ year = {2012},
+ volume = {14},
+ pages = {121-148},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.10.04}
+}
+
+@PHDTHESIS{Abate2007b,
+ author = {A. Abate},
+ title = {Probabilistic Reachability for Stochastic Hybrid Systems: Theory,
+ Computations, and Applications},
+ school = {University of California, Berkeley},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@INPROCEEDINGS{Abate2007,
+ author = {A. Abate and S. Amin and M. Prandini and J. Lygeros and S. Sastry},
+ title = {Computational Approaches to Reachability Analysis of Stochastic Hybrid
+ Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2007},
+ series = {LNCS 4416},
+ pages = {4-17},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@ARTICLE{Abate2008,
+ author = {A. Abate and M. Prandini and J. Lygeros and S. Sastry},
+ title = {Probabilistic Reachability and Safety for Controlled Discrete Time
+ Stochastic Hybrid Systems},
+ journal = {Automatica},
+ year = {2008},
+ volume = {44},
+ pages = {2724-2734},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@ARTICLE{Abbas2013,
+ author = {H. Abbas and G. Fainekos and S. Sankaranarayanan and F. Iva\v{c}i{\'c}
+ and A. Gupta},
+ title = {Probabilistic Temporal Logic Falsification of Cyber-Physical Systems},
+ journal = {ACM Transactions on Embedded Computing Systems},
+ year = {2013},
+ volume = {12},
+ pages = {1-30},
+ number = {2s},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@INPROCEEDINGS{Abbas2014,
+ author = {H. Abbas and H. Mittelmann and G. Fainekos},
+ title = {Formal Property Verification in a Conformance Testing Framework},
+ booktitle = {Proc. of the 12th ACM/IEEE International Conference on Formal Methods
+ and Models for Codesign},
+ year = {2014},
+ pages = {155-164},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@ARTICLE{Abdel_Aty2006,
+ author = {M. Abdel-Aty and A. Pande},
+ title = {{ATMS} Implementation System for Identifying Traffic Conditions Leading
+ to Potential Crashes},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2006},
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+ timestamp = {2008.08.25}
+}
+
+@BOOK{Agoston2005,
+ title = {Computer Graphics and Geometric Modeling: Implementation and Algorithms},
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+ year = {2005},
+ author = {Max~K. Agoston},
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+ timestamp = {2016.03.21}
+}
+
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+ title = {Runtime Verification of Nonlinear Analog Circuits Using Incremental
+ Time-Augmented {RRT} Algorithm},
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+ year = {2013},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@INPROCEEDINGS{Ahn2006,
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+ title = {Maximum Singular Value and Power of an Interval Matrix},
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+ Automation},
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+ owner = {matthias},
+ timestamp = {2010.06.01}
+}
+
+@INPROCEEDINGS{Alamo2003,
+ author = {T. Alamo and J.~M. Bravo and E.~F. Camacho},
+ title = {Guaranteed State Estimation by Zonotopes},
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+ timestamp = {2008.07.11}
+}
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+ timestamp = {2016.07.19}
+}
+
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+ author = {S. Albers and M.~R. Henzinger},
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+ timestamp = {2016.07.19}
+}
+
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+ timestamp = {2013.04.22}
+}
+
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+ author = {L.~F.~C. Alberto and F.~H.~J. R. Silva and N.~G. Bretas},
+ title = {Direct Methods for Transient Stability Analysis in Power Systems:
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+ owner = {matthias},
+ timestamp = {2012.02.22}
+}
+
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+}
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+}
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+}
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+}
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+}
+
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+ author = {R. Alur and D.~L. Dill},
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+}
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+ title = {Automatic Symbolic Verification of Embedded Systems},
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+ timestamp = {2009.12.04}
+}
+
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+ author = {Alur, R. AND Henzinger, T.~A. AND Lafferriere, G. AND Pappas, G.~J.},
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+ volume = {88},
+ pages = {971--984}
+}
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+ title = {Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency
+ Braking Control},
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+ volume = {127},
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+ owner = {matthias},
+ timestamp = {2011.02.17}
+}
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+}
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+ title = {A New Condition for Asymptotic Stability of Uncertain Discrete-Time
+ Systems: It Is Less Conservative Than the Quadratic Stability Condition},
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+}
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+ author = {F. Amigoni and M. Reggiani and V. Schiaffonati},
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+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@ARTICLE{Amin2005,
+ author = {S.~M. Amin and B.~F. Wollenberg},
+ title = {Toward a smart grid: Power delivery for the 21st century},
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+ timestamp = {2013.03.15}
+}
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+}
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+ year = {2005},
+ volume = {20},
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+ timestamp = {2013.04.22}
+}
+
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+ author = {C. Andr{\'e} and M. Peraldi-Frati},
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+ pages = {91-98},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Angeli2003,
+ author = {D. Angeli and E.~D. Sontag},
+ title = {Monotone Control Systems},
+ journal = {IEEE Transactions on Automatic Control},
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+ volume = {48},
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+ number = {10},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Annapureddy2010,
+ author = {Y.~S.~R. Annapureddy and G.~E. Fainekos},
+ title = {Ant Colonies for Temporal Logic Falsification of Hybrid Systems},
+ booktitle = {Proc. of the 36th Annual Conference of IEEE Industrial Electronics},
+ year = {2010},
+ pages = {91-96},
+ owner = {matthias},
+ timestamp = {2013.12.02}
+}
+
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+ author = {F. Anstett and G. Mill{\'e}rioux and G. Bloch},
+ title = {Polytopic Observer Design for {LPV} Systems Based on Minimal Convex
+ Polytope Finding},
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+ pages = {23-43},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
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+ timestamp = {2008.09.05}
+}
+
+@BOOK{Arnold1982,
+ title = {Stochastische Differentialgleichungen - Theorie und Anwendung},
+ publisher = {Oldenbourg},
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+}
+
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+ author = {N. Ar{\'e}chiga and S.~M. Loos and A. Platzer and B.~H. Krogh},
+ title = {Using Theorem Provers to Guarantee Closed-Loop System Properties},
+ booktitle = {In Proc. of the American Control Conference},
+ year = {2012},
+ pages = {3573-3580},
+ owner = {matthias},
+ timestamp = {2012.08.16}
+}
+
+@INPROCEEDINGS{Asarin2000,
+ author = {E.~Asarin AND O.~Bournez AND T.~Dang AND O.~Maler},
+ title = {Approximate Reachability Analysis of Piecewise-Linear Dynamical Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2000},
+ series = {LNCS 1790},
+ pages = {20-31},
+ publisher = {Springer}
+}
+
+@INPROCEEDINGS{Asarin2006,
+ author = {Asarin, E. AND Dang, T. AND Frehse, G. AND Girard, A. AND Le Guernic,
+ C. AND Maler, O.},
+ title = {Recent progress in continuous and hybrid reachability analysis},
+ booktitle = {Proc. of the 2006 IEEE Conference on Computer Aided Control Systems
+ Design},
+ year = {2006},
+ pages = {1582--1587},
+ file = {#F#}
+}
+
+@ARTICLE{Asarin2007,
+ author = {E. Asarin and T. Dang and A. Girard},
+ title = {Hybridization Methods for the Analysis of Nonlinear Systems},
+ journal = {Acta Informatica},
+ year = {2007},
+ volume = {43},
+ pages = {451-476},
+ owner = {althoff},
+ timestamp = {2009.12.07}
+}
+
+@INPROCEEDINGS{Asarin2003,
+ author = {Asarin, E. AND Dang, T. AND Girard, A.},
+ title = {Reachability Analysis of Nonlinear Systems Using Conservative Approximation},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2003},
+ series = {LNCS 2623},
+ pages = {20--35},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Asarin2001,
+ author = {E. Asarin and T. Dang and O. Maler},
+ title = {d/dt: A Verification Tool for Hybrid Systems},
+ booktitle = {Proc. of the Conference on Decision and Control},
+ year = {2001},
+ pages = {2893-2898}
+}
+
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+ series = {LNCS 999},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
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+ title = {Computer Methods for Ordinary Differential Equations and Differential-Algebraic
+ Equations},
+ publisher = {SIAM: Society for Industrial and Applied Mathematics},
+ year = {1998},
+ author = {U.~M. Ascher and L.~R. Petzold},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@BOOK{Ashley1991,
+ title = {Modeling Legal Argument: Reasoning with Cases and Hypotheticals},
+ publisher = {MIT Press},
+ year = {1991},
+ author = {K.~D. Ashley},
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+}
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+ and P. Pourbeik and S.~A. Seman and K. Wiens},
+ title = {Model Validation for Wind Turbine Generator Models},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2011},
+ volume = {26},
+ pages = {1769-1782},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Aso2008,
+ author = {K. Aso and T. Kindo},
+ title = {Stochastic Decision-Making Method for Autonomous Driving System that
+ Minimizes Collision Probability},
+ booktitle = {Proc. of the FISITA World Automotive Congress},
+ year = {2008},
+ owner = {althoff},
+ timestamp = {2008.11.17}
+}
+
+@INPROCEEDINGS{Dogan2004,
+ author = {Atakan Do\v{g}an, A. AND Korkmaz, G. AND Liu, Y. AND Oezguener, F.
+ AND Oezguener, Ue. AND Redmill, K. AND Takeshita, O. AND Tokuda,
+ K.},
+ title = {Evaluation of Intersection Collision Warning System Using an Inter-vehicle
+ Communication Simulator},
+ booktitle = {Proc.of the Conference on Intelligent Transportation Systems},
+ year = {2004},
+ pages = {1103--1108},
+ file = {#F#}
+}
+
+@BOOK{Aubin1984,
+ title = {Differential Inclusions: Set-Valued Maps and Viability Theory},
+ publisher = {Springer},
+ year = {1984},
+ author = {J.~P. Aubin and A. Cellina},
+ owner = {matthias},
+ timestamp = {2012.11.28}
+}
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+ author = {D. Avis and D. Bremner and R. Seidel},
+ title = {How Good are Convex Hull Algorithms?},
+ journal = {Computational Geometry: Theory and Applications},
+ year = {1997},
+ volume = {7},
+ pages = {265-301},
+ owner = {matthias},
+ timestamp = {2011.09.30}
+}
+
+@INPROCEEDINGS{Ayala2013,
+ author = {A.~I.~M. Ayala and S.~B. Andersson and C. Belta},
+ title = {Temporal Logic Motion Planning in Unknown Environments},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2013},
+ pages = {5279 - 5284},
+ owner = {matthias},
+ timestamp = {2015.02.27}
+}
+
+@ARTICLE{Lacevic2013,
+ author = {B. Lacevic, P. Rocco, A.~M. Zanchettin},
+ title = {Safety Assessment and Control of Robotic Manipulators Using Danger
+ Field},
+ journal = {IEEE Transactions on Robotics},
+ year = {2013},
+ volume = {29},
+ pages = {1257-1270},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@ARTICLE{Bagnara2008,
+ author = {R. Bagnara and P. M. Hill and E. Zaffanella},
+ title = {The {Parma Polyhedra Library}: Toward a Complete Set of Numerical
+ Abstractions for the Analysis and Verification of Hardware and Software
+ Systems},
+ journal = {Science of Computer Programming},
+ year = {2008},
+ volume = {72},
+ pages = {3-21},
+ owner = {matthias},
+ timestamp = {2011.02.24}
+}
+
+@ARTICLE{Bahbah2004,
+ author = {A.~G. Bahbah and A.~A. Girgis},
+ title = {New Method for Generators{'} Angles and Angular Velocities Prediction
+ for Transient Stability Assessment of Multimachine Power Systems
+ Using Recurrent Artificial Neural Network},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2004},
+ volume = {19},
+ pages = {1015-1022},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2012.03.23}
+}
+
+@BOOK{Baier2008,
+ title = {Principles of Model Checking},
+ publisher = {MIT Press},
+ year = {2008},
+ author = {C. Baier and J.-P. Katoen},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@INPROCEEDINGS{Baier1999,
+ author = {C. Baier and J.-P. Katoen and H. Hermanns},
+ title = {Approximate Symbolic Model Checking of Continuous-Time Markov Chains},
+ booktitle = {Proc. of the 10th International Conference on Concurrency Theory},
+ year = {1999},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@ARTICLE{Bailey1999,
+ author = {G.~D. Bailey},
+ title = {Coherence and Enumeration of Tilings of 3-Zonotopes},
+ journal = {Discrete \& Computational Geometry},
+ year = {1999},
+ volume = {22},
+ pages = {119-147},
+ owner = {matthias},
+ timestamp = {2016.06.01}
+}
+
+@INPROCEEDINGS{Bak2016,
+ author = {S. Bak and S. Bogomolov and T.~A. Henzinger and T.~T. Johnson and
+ P. Prakash},
+ title = {Scalable Static Hybridization Methods for Analysis of Nonlinear Systems},
+ booktitle = {Proc. of the 19th ACM International Conference on Hybrid Systems:
+ Computation and Control},
+ year = {2016},
+ pages = {155-164},
+ owner = {matthias},
+ timestamp = {2016.09.29}
+}
+
+@INPROCEEDINGS{Baltes2000,
+ author = {J. Baltes},
+ title = {A Benchmark Suite for Mobile Robots},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on lntelligent Robots
+ and Systems},
+ year = {2000},
+ pages = {1101-1106},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@ARTICLE{Banerjee2012,
+ author = {A. Banerjee and K.~K. Venkatasubramanian and T. Mukherjee and S.~K.~S.
+ Gupta},
+ title = {Ensuring Safety, Security, and Sustainability of Mission-Critical
+ Cyber-Physical Systems},
+ journal = {Proceedings of the IEEE},
+ year = {2012},
+ volume = {100},
+ pages = {283-299},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Barber1996,
+ author = {C.~B. Barber and D.~P. Dobkin and H.~T. Huhdanpaa},
+ title = {The Quickhull Algorithm for Convex Hulls},
+ journal = {ACM Transactions on Mathematical Software},
+ year = {1996},
+ volume = {22},
+ pages = {469-483},
+ owner = {matthias},
+ timestamp = {2010.06.22}
+}
+
+@ARTICLE{Barequet1999,
+ author = {G. Barequet and S. {Har-Peled}},
+ title = {Efficiently Approximating the Minimum-Volume Bounding Box of a Point
+ Set in Three Dimensions},
+ journal = {Journal of Algorithms},
+ year = {1999},
+ volume = {38},
+ pages = {91-109},
+ booktitle = {Proc. of the 10th ACM-SIAM Symposium on Discrete Algorithms},
+ owner = {althoff},
+ timestamp = {2008.10.23}
+}
+
+@ARTICLE{Barki2009,
+ author = {H. Barki and F. Denis and F. Dupont},
+ title = {Contributing Vertices-Based Minkowski Sum Computation of Convex Polyhedra},
+ journal = {Computer-Aided Design},
+ year = {2009},
+ volume = {41},
+ pages = {525-538},
+ owner = {matthias},
+ timestamp = {2010.06.22}
+}
+
+@INPROCEEDINGS{Barry2012,
+ author = {A.~J. Barry and A. Majumdar and R. Tedrake},
+ title = {Safety Verification of Reactive Controllers for {UAV} Flight in Cluttered
+ Environments using Barrier Certificates},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2012},
+ pages = {484-490},
+ owner = {matthias},
+ timestamp = {2015.09.22}
+}
+
+@INPROCEEDINGS{Bartels2008,
+ author = {A. Bartels},
+ title = {{R}oadmap {A}utomatisches {F}ahren},
+ booktitle = {Proc. of Automatisierungssysteme, Assistenzsysteme und eingebettete
+ Systeme f\"ur Transportmittel},
+ year = {2008},
+ pages = {350-364},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@ARTICLE{Barth2009,
+ author = {A. Barth and U. Franke},
+ title = {Estimating the Driving State of Oncoming Vehicles From a Moving Platform
+ Using Stereo Vision},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2009},
+ volume = {10},
+ pages = {560-571},
+ owner = {matthias},
+ timestamp = {2010.08.14}
+}
+
+@INPROCEEDINGS{Barth2008,
+ author = {A. Barth and U. Franke},
+ title = {Where Will the Oncoming Vehicle be the Next Second?},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1068-1073},
+ owner = {althoff},
+ timestamp = {2008.08.21}
+}
+
+@INPROCEEDINGS{Bautin2010,
+ author = {A. Bautin and L. Martinez-Gomez and T. Fraichard},
+ title = {Inevitable collision states: a probabilistic perspective},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2010},
+ pages = {4022-4027},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@ARTICLE{Bavli2005,
+ author = {H. Bavli},
+ title = {Applying the Laws of Logic to the Logic of Laws},
+ journal = {Fordham Urban Law Journal},
+ year = {2005},
+ volume = {33},
+ pages = {101-114},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@INPROCEEDINGS{Behrmann2001,
+ author = {G. Behrmann and A. David and K.~G. Larsen and O. M{\"o}ller and P.
+ Pettersson and W. Yi},
+ title = {{UPPAAL} - Present and Future},
+ booktitle = {Proc. of the 40th IEEE Conference on Decision and Control},
+ year = {2001},
+ pages = {2881 - 2886},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@ARTICLE{Behrmann2011,
+ author = {G. Behrmann and A. David and K.~G. Larsen and P. Pettersson and W.
+ Yi},
+ title = {Developing {UPPAAL} over 15 years},
+ journal = {Softw., Pract. Exper.},
+ year = {2011},
+ volume = {41},
+ pages = {133-142},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@BOOK{Beichelt1997,
+ title = {Stochastische Prozesse f\"ur Ingenieure},
+ publisher = {B.G. Teubner},
+ year = {1997},
+ author = {F. Beichelt},
+ owner = {althoff},
+ timestamp = {2008.04.14}
+}
+
+@INPROCEEDINGS{BenMakhlouf2011,
+ author = {I. {Ben Makhlouf} and J.~P. Maschuw and P. H{\"a}nsch and H. Diab
+ and S. Kowalewski and D. Abel},
+ title = {Safety Verification of a Cooperative Vehicle Platoon with Uncertain
+ Inputs Using Zonotopes},
+ booktitle = {Proc. of the 18th IFAC World Congress},
+ year = {2011},
+ pages = {9769-9774},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@ARTICLE{BenSassi2012,
+ author = {M.~A. {Ben Sassi} and A. Girard},
+ title = {Computation of polytopic invariants for polynomial dynamical systems
+ using linear programming},
+ journal = {Automatica},
+ year = {2012},
+ volume = {48},
+ pages = {3114-3121},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2013.02.24}
+}
+
+@INPROCEEDINGS{Bender2014,
+ author = {P. Bender and J. Ziegler and C. Stiller},
+ title = {Lanelets: Efficient Map Representation for Autonomous Driving},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2014},
+ pages = {420-425},
+ owner = {matthias},
+ timestamp = {2016.03.21}
+}
+
+@INPROCEEDINGS{Bengtsson1998,
+ author = {J. Bengtsson and K. Larsen and F. Larsson and P. Pettersson and Y.
+ Wang and C. Weise},
+ title = {New Generation of {UPPAAL}},
+ booktitle = {Proc. of the International Workshop on Software Tools for Technology
+ Transfer},
+ year = {1998},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@ARTICLE{Benvenuti2014,
+ author = {L. Benvenuti and D. Bresolin and P. Collins and A. Ferrari and L.
+ Geretti and T. Villa},
+ title = {Assume-guarantee verification of nonlinear hybrid systems with {ARIADNE}},
+ journal = {International Journal of Robust and Nonlinear Control},
+ year = {2014},
+ volume = {24},
+ pages = {699-724},
+ owner = {matthias},
+ timestamp = {2015.03.10}
+}
+
+@INBOOK{Benvenuti2012,
+ chapter = {Ariadne: Dominance Checking of Nonlinear Hybrid Automata Using Reachability
+ Analysis},
+ pages = {79-91},
+ title = {Reachability Problems},
+ publisher = {Springer},
+ year = {2012},
+ author = {L. Benvenuti and D. Bresolin and P. Collins and A. Ferrari and L.
+ Geretti and T. Villa},
+ owner = {matthias},
+ timestamp = {2015.03.10}
+}
+
+@PHDTHESIS{Berg2007,
+ author = {J. van den Berg},
+ title = {Path Planning in Dynamic Environments},
+ school = {Utrecht University},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2008.08.21}
+}
+
+@INPROCEEDINGS{Berg2006,
+ author = {van den Berg, J. AND Ferguson, D. AND Kuffner, J.},
+ title = {Anytime Path Planning and Replanning in Dynamic Environments},
+ booktitle = {Proc. of the International Conference on Robotics and Automation},
+ year = {2006},
+ pages = {2366--2371},
+ file = {#F#}
+}
+
+@BOOK{Bergan1979,
+ title = {Energy Methods in Finite Element Analysis; Article: Use of the Current
+ Stiffness Parameter},
+ publisher = {Wiley-Interscience},
+ year = {1979},
+ editor = {Glowinski, G.},
+ author = {Bergan, P.~G. AND Holand, I. AND S{\"o}reide, H.~T.},
+ series = {Wiley Series in Numerical Methods in Engineering},
+ file = {#F#},
+ isbn = {0 471 99723 4}
+}
+
+@ARTICLE{Bergen1986,
+ author = {A.~R. Bergen and D.~J. Hill and C.~L. {de Marcot}},
+ title = {Lyapunov Function for Multimachine Power Systems with Generator Flux
+ Decay and Voltage Dependent Loads},
+ journal = {International Journal of Electrical Power \& Energy Systems},
+ year = {1986},
+ volume = {8},
+ pages = {2-10},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@ARTICLE{Bergvall1928,
+ author = {R.~C. Bergvall and P.~H. Robinson},
+ title = {Quantitative Mechanical Analysis of Power System Transient Disturbances},
+ journal = {Transactions of the American Institute of Electrical Engineers},
+ year = {1928},
+ volume = {47},
+ pages = {915-925},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.03.22}
+}
+
+@ARTICLE{Berleant1993,
+ author = {D.~Berleant},
+ title = {Automatically Verified Reasoning with Both Intervals and Probability
+ Density Functions},
+ journal = {Interval Computations},
+ year = {1993},
+ volume = {2},
+ pages = {48-70},
+ owner = {althoff},
+ timestamp = {2007.08.31}
+}
+
+@ARTICLE{Berleant1998,
+ author = {D. Berleant and C. Goodman-Strauss},
+ title = {Bounding the Results of Arithmetic Operations on Random Variables
+ of Unknown Dependency using Intervals},
+ journal = {Reliable Computing},
+ year = {1998},
+ volume = {4},
+ pages = {147-165},
+ owner = {althoff},
+ timestamp = {2007.04.04}
+}
+
+@INPROCEEDINGS{Bernabeu2001,
+ author = {E.~J. Bernabeu and J. Tornero and M. Tomizuka},
+ title = {Collision Prediction and Avoidance Amidst Moving Objects for Trajectory
+ Planning Applications},
+ booktitle = {Proc. of the IEEE International Conference on Robotics \& Automation},
+ year = {2001},
+ pages = {3801-3806},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@MISC{Berndt2007,
+ author = {H. Berndt and M. Hermann and H.~D. Kreye and R. Reinisch and U. Scherer
+ and J. Vanzetta},
+ title = {TransmissionCode 2007 -- Network and System Rules of the {German}
+ Transmission System Operators},
+ year = {2007},
+ owner = {matthias},
+ timestamp = {2014.02.07}
+}
+
+@ARTICLE{Bertolazzi2007,
+ author = {E. Bertolazzi and F. Biral and M. {Da Lio}},
+ title = {Real-time Motion Planning for Multibody Systems},
+ journal = {Multibody System Dynamics},
+ year = {2007},
+ volume = {17},
+ pages = {119-139},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2017.01.17}
+}
+
+@ARTICLE{Bertsekas1971,
+ author = {D.~P. Bertsekas and I.~B. Rhodes},
+ title = {Recursive State Estimation for a Set-Membership Description of Uncertainty},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1971},
+ volume = {16},
+ pages = {117-128},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@ARTICLE{Berz1998,
+ author = {Berz, M. AND Hoffst{\"a}tter, G.},
+ title = {Computation and Application of {Taylor} Polynomials with Interval
+ Remainder Bounds},
+ journal = {Reliable Computing},
+ year = {1998},
+ volume = {4},
+ pages = {83--97}
+}
+
+@INPROCEEDINGS{Bhatia2004,
+ author = {A. Bhatia and E. Frazzoli},
+ title = {Incremental Search Methods for Reachability Analysis of Continuous
+ and Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2004},
+ series = {LNCS 2993},
+ pages = {142-156},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.11.30}
+}
+
+@ARTICLE{Bjorner2000,
+ author = {N.~S. Bj{\o}rner and A. Browne and M.~A. Col{\'o}n and B. Finkbeiner
+ and Z. Manna and H.~B. Sipma and T.~E. Uribe},
+ title = {Verifying Temporal Properties of Reactive Systems: A {STeP} Tutorial},
+ journal = {Formal Methods in System Design},
+ year = {2000},
+ volume = {16},
+ pages = {227-270},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@ARTICLE{Blanchini1999,
+ author = {F. Blanchini},
+ title = {Set Invariance in Control},
+ journal = {Automatica},
+ year = {1999},
+ volume = {35},
+ pages = {1747 - 1767},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2015.02.11}
+}
+
+@BOOK{Blanke2003,
+ title = {Diagnosis and Fault-Tolerant Control},
+ publisher = {Springer},
+ year = {2003},
+ author = {Blanke, M. AND Kinnaert, M. AND Lunze, J. AND Staroswiecki, M.},
+ file = {#F#},
+ isbn = {3540010564}
+}
+
+@INPROCEEDINGS{Blom2007,
+ author = {H.~A.~P. Blom and G.~J. Bakker and J. Krystul},
+ title = {Probabilistic Reachability Analysis for Large Scale Stochastic Hybrid
+ Systems},
+ booktitle = {Proc. of the 46th IEEE Conference on Decision and Control},
+ year = {2007},
+ pages = {3182-3189},
+ owner = {althoff},
+ timestamp = {2009.12.12}
+}
+
+@INBOOK{Blom2006,
+ chapter = {10},
+ pages = {247-279},
+ title = {Free Flight Collision Risk Estimation by Sequential Monte Carlo Simulation},
+ publisher = {Taylor \& Francis CRC Press},
+ year = {2006},
+ editor = {C.~G. Cassandras and J. Lygeros},
+ author = {H.~A.~P. Blom and J. Krystul and G.~J. Bakker},
+ owner = {althoff},
+ timestamp = {2008.03.04}
+}
+
+@ARTICLE{Bobrow1988,
+ author = {J.~E. Bobrow},
+ title = {Optimal Robot Path Planning Using the Minimum-Time Criterion},
+ journal = {IEEE Journal of Robotics and Automation},
+ year = {1988},
+ volume = {4},
+ pages = {443-450},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@INPROCEEDINGS{Boemer2009,
+ author = {J.~C. Boemer and M. Gibescu and W.~L. Kling},
+ title = {Dynamic Models for Transient Stability Analysis of Transmission and
+ Distribution Systems with Distributed Generation: an overview},
+ booktitle = {Proc. of the IEEE Bucharest Power Tech Conference},
+ year = {2009},
+ owner = {matthias},
+ timestamp = {2013.03.04}
+}
+
+@INPROCEEDINGS{Bogomolov2010,
+ author = {S. Bogomolov and C. Mitrohin and A. Podelski},
+ title = {Composing Reachability Analyses of Hybrid Systems for Safety and
+ Stability},
+ booktitle = {Proc. of the 8th International Symposium on Automated Technology
+ for Verification and Analysis},
+ year = {2010},
+ pages = {67-81},
+ owner = {matthias},
+ timestamp = {2013.10.10}
+}
+
+@INPROCEEDINGS{Bonnin2012,
+ author = {S. Bonnin and F. Kummert and J. Schm{\"u}dderich},
+ title = {A Generic Concept of a System for Predicting Driving Behaviors},
+ booktitle = {Proc. of the 15th Int. IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2012},
+ pages = {1803-1808},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@ARTICLE{Bonsignorio2015,
+ author = {F. Bonsignorio and A.~P. {del Pobil}},
+ title = {Toward Replicable and Measurable Robotics Research},
+ journal = {IEEE Robotics \& Automation Magazine},
+ year = {2015},
+ volume = {22},
+ pages = {32 - 35},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@BOOK{Borrelli2003,
+ title = {Constrained Optimal Control of Linear and Hybrid Systems},
+ publisher = {Springer},
+ year = {2003},
+ author = {F. Borrelli},
+ owner = {matthias},
+ timestamp = {2016.09.27}
+}
+
+@PHDTHESIS{Bortot2014,
+ author = {D. Bortot},
+ title = {Ergonomic Human-Robot Coexistence in the Branch of Production},
+ school = {Technische Universit{\"a}t M{\"u}nchen},
+ year = {2014},
+ owner = {matthias},
+ timestamp = {2015.10.27}
+}
+
+@INPROCEEDINGS{Botchkarev2000,
+ author = {O. Botchkarev and S. Tripakis},
+ title = {Verification of Hybrid Systems with Linear Differential Inclusions
+ using Ellipsoidal Approximations},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2000},
+ series = {LNCS 1790},
+ pages = {73-88},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@ARTICLE{Boujallal2015,
+ author = {L. Boujallal and K. Kassara},
+ title = {State-Input Constrained Asymptotic Null-Controllability by a Set-Valued
+ Approach},
+ journal = {IET Control Theory \& Applications},
+ year = {2015},
+ volume = {9},
+ pages = {2211-2221},
+ number = {15},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Bouraine2012,
+ author = {S. Bouraine and T. Fraichard and H. Salhi},
+ title = {Provably safe navigation for mobile robots with limited field-of-views
+ in dynamic environments},
+ journal = {Autonomous Robots},
+ year = {2012},
+ volume = {32},
+ pages = {267-283},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@ARTICLE{Bourgain1993,
+ author = {J. Bourgain and J. Lindenstrauss},
+ title = {Approximating the Ball by a {Minkowski} Sum of Segments with Equal
+ Length},
+ journal = {Discrete \& Computational Geometry},
+ year = {1993},
+ volume = {9},
+ pages = {131-144},
+ owner = {matthias},
+ timestamp = {2016.06.01}
+}
+
+@INPROCEEDINGS{Bozga1998,
+ author = {M. Bozga and C. Daws and O. Maler and A. Olivero and S. Tripakis
+ and S. Yovine},
+ title = {Kronos: A Model-checking Tool for Real-time Systems},
+ booktitle = {Formal Techniques in Real-Time and Fault-Tolerant Systems},
+ year = {1998},
+ series = {LNCS 1486},
+ pages = {298-302},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Brackstone1998,
+ author = {M. Brackstone and M. McDonald and J. Wu},
+ title = {Lane Changing on the Motorway: Factors Affecting its Occurrence,
+ and their Implications},
+ booktitle = {Proc. of the 9th International Conference on Road Transport Information
+ and Control},
+ year = {1998},
+ pages = {160-164},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Brandt2007,
+ author = {T. Brandt and T. Sattel and M. B{\"o}hm},
+ title = {Combining haptic human-machine interaction with predictive path planning
+ for lane-keeping and collision avoidance systems},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {582-587},
+ owner = {althoff},
+ timestamp = {2008.03.14}
+}
+
+@INPROCEEDINGS{Branicky2003,
+ author = {M.~S. Branicky and M.~M. Curtiss and J.~A. Levine and S.~B. Morgan},
+ title = {{RRTs} for Nonlinear, Discrete, and Hybrid Planning and Control},
+ booktitle = {Proc. of the 42nd IEEE Conference on Decision and Control},
+ year = {2003},
+ pages = {657-663},
+ owner = {althoff},
+ timestamp = {2009.11.30}
+}
+
+@ARTICLE{Branicky2006,
+ author = {M.~S. Branicky and M.~M. Curtiss and J. Levine and S. Morgan},
+ title = {Sampling-based Planning, Control, and Verification of Hybrid Systems},
+ journal = {IEE Proceedings -- Control Theory and Applications},
+ year = {2006},
+ volume = {153},
+ pages = {575 - 590},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@INPROCEEDINGS{Branicky2008,
+ author = {Branicky, Michael S and Knepper, Ross A and Kuffner, James J},
+ title = {Path and Trajectory Diversity: Theory and Algorithms},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2008},
+ pages = {1359-1364},
+ owner = {matthias},
+ timestamp = {2013.07.24}
+}
+
+@ARTICLE{Bravo2006,
+ author = {J.~M. Bravo and T. Alamo and E.~F. Camacho},
+ title = {Robust {MPC} of Constrained Discrete-Time Nonlinear Systems Based
+ on Approximated Reachable Sets},
+ journal = {Automatica},
+ year = {2006},
+ volume = {42},
+ pages = {1745-1751},
+ owner = {matthias},
+ timestamp = {2012.12.30}
+}
+
+@BOOK{Brenan1989,
+ title = {Numerical Solution of Initial Value Problems in Differential-Algebraic
+ Equations},
+ publisher = {North-Holland},
+ year = {1989},
+ author = {K.~E. Brenan and S.~L. Campbell and L.~R. Petzold},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@ARTICLE{Brennan2005,
+ author = {Brennan, S. AND Alleyne, A.},
+ title = {Dimensionless Robust Control with Application to Vehicles},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2005},
+ volume = {13},
+ pages = {624--630},
+ number = {4}
+}
+
+@INPROCEEDINGS{Broadhurst2005,
+ author = {A.~E. Broadhurst and S. Baker and T. Kanade},
+ title = {{Monte Carlo} road safety reasoning},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2005},
+ pages = {319-324},
+ owner = {althoff},
+ timestamp = {2007.11.28}
+}
+
+@INPROCEEDINGS{Broadhurst2004,
+ author = {A.~E. Broadhurst and S. Baker and T. Kanade},
+ title = {A Prediction and Planning Framework for Road Safety Analysis, Obstacle
+ Avoidance and Driver Information},
+ booktitle = {Proc. of the 11th World Congress on Intelligent Transportation Systems},
+ year = {2004},
+ month = {October}
+}
+
+@INPROCEEDINGS{Broqua1992,
+ author = {F. Broqua},
+ title = {Impact of automatic and semi-automatic vehicle longitudinal control
+ on motorway traffic},
+ booktitle = {Proc. of the Intelligent Vehicles Symposium},
+ year = {1992},
+ pages = {144-147},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{Brannstrom2010,
+ author = {M. Br{\"a}nnstr{\"o}m and E. Coelingh and J. Sj{\"o}berg},
+ title = {Model-Based Threat Assessment for Avoiding Arbitrary Vehicle Collisions},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2010},
+ volume = {11},
+ pages = {658-669},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@INPROCEEDINGS{Bu2010,
+ author = {L. Bu and Y. Li and L. Wang and X. Chen and X. Li},
+ title = {BACH 2 : Bounded ReachAbility CHecker for Compositional Linear Hybrid
+ Systems},
+ booktitle = {Proc. of Design, Automation \& Test in Europe},
+ year = {2010},
+ pages = {1512-1517},
+ owner = {matthias},
+ timestamp = {2014.02.05}
+}
+
+@ARTICLE{Buchanan1970,
+ author = {B.~G. Buchanan and T.~E. Headrick},
+ title = {Some speculation about artificial intelligence and legal reasoning.
+ Stanford Law Review (1970): 40-62},
+ journal = {Stanford Law Review},
+ year = {1970},
+ volume = {23},
+ pages = {40-62},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@INCOLLECTION{Bujorianu2006,
+ author = {M. Bujorianu and J. Lygeros},
+ title = {Toward a General Theory of Stochastic Hybrid Systems},
+ booktitle = {Stochastic Hybrid Systems: Theory and Safety Critical Applications},
+ publisher = {Springer},
+ year = {2006},
+ editor = {H. Blom and J. Lygeros},
+ number = {337},
+ series = {LNCIS},
+ pages = {3-30},
+ owner = {althoff},
+ timestamp = {2008.03.04}
+}
+
+@INPROCEEDINGS{Bujorianu2005,
+ author = {M.~L. Bujorianu},
+ title = {A Statistical Inference Method for the Stochastic Reachability Analysis},
+ booktitle = {Proc. of the 44th IEEE Conference on Decision and Control},
+ year = {2005},
+ pages = {8088-8093},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@INPROCEEDINGS{Bujorianu2004,
+ author = {M.~L. Bujorianu},
+ title = {Extended Stochastic Hybrid Systems and Their Reachability Problem},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2004},
+ pages = {234-249},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@INPROCEEDINGS{Bulychev2012,
+ author = {P. Bulychev and A. David and K.~G. Larsen and A. Legay and G. Li
+ and D.~B. Poulsen and A. Stainer},
+ title = {Monitor-Based Statistical Model Checking for Weighted Metric Temporal
+ Logic},
+ booktitle = {Proc. of 18th International Conference on Logic for Programming Artificial
+ Intelligence and Reasoning},
+ year = {2012},
+ pages = {168-182},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@ARTICLE{Burnham1974,
+ author = {G.~O. Burnham and J. Seo and G.~A. Bekey},
+ title = {Identification of Human Driver Models in Car Following},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1974},
+ volume = {19},
+ pages = {911 - 915},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@BOOK{Buss2000,
+ title = {Methoden zur Regelung Hybrider Dynamischer Systeme},
+ publisher = {VDI},
+ year = {2000},
+ author = {Buss, M.},
+ series = {Fortschritt-Berichte},
+ file = {#F#},
+ isbn = {3183970082}
+}
+
+@INPROCEEDINGS{Byrod2006,
+ author = {M. Byr{\"o}d and B. Lennartson and A. Vahidi and K. {\r{A}}kesson},
+ title = {Efficient Reachability Analysis on Modular Discrete-Event Systems
+ using Binary Decision Diagrams},
+ booktitle = {Proc. of the 8th International Workshop on Discrete Event Systems},
+ year = {2006},
+ pages = {288-293},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@MASTERSTHESIS{Borgeson2010,
+ author = {J. B{\"o}rgeson and A. St{\aa}lheim},
+ title = {Sensor Data Fusion for Road Friction Estimation},
+ school = {Chalmers University of Technology},
+ year = {2010},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Calinescu2012b,
+ author = {R. Calinescu and C. Ghezzi and M. Kwiatkowska and R. Mirandola},
+ title = {Self-Adaptive Software needs Quantitative Verification at Runtime},
+ journal = {Communications of the ACM},
+ year = {2012},
+ volume = {55},
+ pages = {69-77},
+ number = {9},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@ARTICLE{Calinescu2011,
+ author = {R. Calinescu and L. Grunske and M. Kwiatkowska and R. Mirandola and
+ G. Tamburrelli},
+ title = {Dynamic {QoS} Management and Optimization in Service-Based Systems},
+ journal = {IEEE Transactions on Software Engineering},
+ year = {2011},
+ volume = {37},
+ pages = {387-409},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@INPROCEEDINGS{Calinescu2009,
+ author = {R. Calinescu and M. Kwiatkowska},
+ title = {Using Quantitative Analysis to Implement Autonomic {IT} Systems},
+ booktitle = {Proc. of the 31st International Conference on Software Engineering},
+ year = {2009},
+ pages = {100-110},
+ owner = {matthias},
+ timestamp = {2016.09.29}
+}
+
+@BOOK{Camacho2004,
+ title = {Model Predictive Control},
+ publisher = {Springer},
+ year = {2004},
+ author = {Camacho, E.~F. AND Bordons, C.},
+ file = {#F#},
+ isbn = {1852336943}
+}
+
+@ARTICLE{Campi1994,
+ author = {S. Campi and D. Haas and W. Weil},
+ title = {Approximation of Zonoids by Zonotopes in Fixed Directions},
+ journal = {Discrete \& Computational Geometry},
+ year = {1994},
+ volume = {11},
+ pages = {419-431},
+ owner = {matthias},
+ timestamp = {2016.06.01}
+}
+
+@BOOK{Cassandras2009,
+ title = {Introduction to Discrete Event Systems},
+ publisher = {Springer},
+ year = {2009},
+ author = {C.~G. Cassandras and S. Lafortune},
+ owner = {althoff},
+ timestamp = {2009.12.14}
+}
+
+@BOOK{Cassandras2008,
+ title = {Introduction to Discrete Event Systems},
+ publisher = {Springer},
+ year = {2008},
+ author = {C.~G. Cassandras and S. Lafortune},
+ owner = {matthias},
+ timestamp = {2011.12.29}
+}
+
+@INPROCEEDINGS{Chan2008,
+ author = {N. Chan and J. Kuffner and M. Zucker},
+ title = {Improved Motion Planning Speed and Safety using Regions of Inevitable
+ Collision},
+ booktitle = {Proc. of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics,
+ and Control},
+ year = {2008},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@ARTICLE{Chandra2003,
+ author = {V. Chandra and Z. Huang and R. Kumar},
+ title = {Automated Control Synthesis for an Assembly Line Using Discrete Event
+ System Control Theory},
+ journal = {IEEE Transactions on Systems, Man and Cybernetics},
+ year = {2003},
+ volume = {33},
+ pages = {284-289},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Chang1999,
+ author = {C.~S. Chang and L.~R. Lu and F.~S. Wen},
+ title = {Power System Network Partitioning Using Tabu Search},
+ journal = {Electric Power Systems Research},
+ year = {1999},
+ volume = {49},
+ pages = {55-61},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.07.04}
+}
+
+@ARTICLE{Chang1997,
+ author = {T.-H. Chang and I.-S. Lai},
+ title = {Analysis of Characteristics of Mixed Traffic Flow of Autopilot Vehicles
+ and Manual Vehicles},
+ journal = {Transportation Research Part C: Emerging Technologies},
+ year = {1997},
+ volume = {5},
+ pages = {333 - 348},
+ number = {6},
+ annote = {Shows that capacity of vehicles per hour per lane can be increased
+ by introducing automated vehicles (which need less headway).},
+ bdsk-url-1 = {http://www.sciencedirect.com/science/article/pii/S0968090X9700020X},
+ bdsk-url-2 = {http://dx.doi.org/10.1016/S0968-090X(97)00020-X},
+ date-modified = {2015-11-25 9:09:01 PM +0000},
+ issn = {0968-090X},
+ owner = {matthias},
+ read = {1},
+ timestamp = {2016.01.12}
+}
+
+@BOOK{Chen1995,
+ title = {Linear stochastic control systems},
+ publisher = {CRC Press},
+ year = {1995},
+ author = {G. Chen and G. Chen and S.-H. Hsu},
+ owner = {althoff},
+ timestamp = {2008.04.14}
+}
+
+@PHDTHESIS{Chen2015b,
+ author = {Xin Chen},
+ title = {Reachability Analysis of Non-Linear Hybrid Systems Using Taylor Models},
+ school = {RWTH Aachen University},
+ year = {2015},
+ owner = {matthias},
+ timestamp = {2016.04.01}
+}
+
+@INPROCEEDINGS{Chen2011b,
+ author = {X. Chen and E. {\'A}br\'aham and G. Frehse},
+ title = {Efficient Bounded Reachability Computation for Rectangular Automata},
+ booktitle = {5th Workshop on Reachability Problems},
+ year = {2011},
+ series = {LNCS 6945},
+ pages = {139-152},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@INPROCEEDINGS{Chen2013,
+ author = {X. Chen and E. {\'A}brah{\'a}m and S. Sankaranarayanan},
+ title = {Flow*: An Analyzer for Non-Linear Hybrid Systems},
+ booktitle = {Proc. of Computer-Aided Verification},
+ year = {2013},
+ series = {LNCS 8044},
+ pages = {258-263},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@INPROCEEDINGS{Chen2012,
+ author = {X. Chen and S. Sankaranarayanan and E. {\'A}brah{\'a}m},
+ title = {Taylor Model Flowpipe Construction for Non-linear Hybrid Systems},
+ booktitle = {Proc. of the 33rd IEEE Real-Time Systems Symposium},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2013.01.14}
+}
+
+@INPROCEEDINGS{Chen2015,
+ author = {X. Chen and S. Schupp and I. {Ben Makhlouf} and E. {\'A}brah{\'a}m
+ and G. Frehse and S. Kowalewski},
+ title = {A Benchmark Suite for Hybrid Systems Reachability Analysis},
+ booktitle = {Proc. of NASA Formal Methods},
+ year = {2015},
+ pages = {408-414},
+ owner = {matthias},
+ timestamp = {2015.11.14}
+}
+
+@INPROCEEDINGS{Xin2015,
+ author = {X. Chen and S. Schupp and I. {Ben Makhlouf} and E. Abraham and G.
+ Frehse and S. Kowalewski},
+ title = {A benchmark suite for hybrid systems reachability analysis},
+ booktitle = {Proc. of the 7th {NASA} Formal Methods Symposium},
+ year = {2015},
+ volume = { 9058 },
+ series = { Lecture Notes in Computer Science },
+ publisher = { Springer },
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@ARTICLE{Chen2012b,
+ author = {Y.~C. Chen and A.~D. Dom{\'i}nguez-Garc{\'i}a},
+ title = {A Method to Study the Effect of Renewable Resource Variability on
+ Power System Dynamics},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2012},
+ volume = {27},
+ pages = {1978-1989},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.08}
+}
+
+@INPROCEEDINGS{Chen2011,
+ author = {Y.~C. Chen and A.~D. Dom{\'i}nguez-Garc{\'i}a},
+ title = {Assessing the Impact of Wind Variability on Power System Small-Signal
+ Reachability},
+ booktitle = {Proc. of the International Conference on System Sciences},
+ year = {2011},
+ pages = {1-8},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@ARTICLE{Chesi2005,
+ author = {G. Chesi},
+ title = {Establishing Stability and Instability of Matrix Hypercubes},
+ journal = {System \& Control Letters},
+ year = {2005},
+ volume = {54},
+ pages = {381-388},
+ owner = {althoff},
+ timestamp = {2009.01.09}
+}
+
+@INBOOK{Chiang1991,
+ chapter = {Analytical Results on the Direct Methods for Power System Transient
+ Stability Analysis},
+ pages = {275-334},
+ title = {Control and Dynamic Systems: Advances in Theory and Application},
+ publisher = {Academic Press},
+ year = {1991},
+ author = {H.~D. Chiang},
+ volume = {43},
+ owner = {matthias},
+ timestamp = {2013.04.17}
+}
+
+@ARTICLE{Chiang1995,
+ author = {H.-D. Chiang and C.-C. Chu and G. Cauley},
+ title = {Direct Stability Analysis of Electric Power Systems Using Energy
+ Functions: Theory, Applications, and Perspective},
+ journal = {Proceedings of the IEEE},
+ year = {1995},
+ volume = {83},
+ pages = {1497-1529},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2012.02.22}
+}
+
+@ARTICLE{Chitta2012,
+ author = {S. Chitta and I. Sucan and S. Cousins},
+ title = {MoveIt!},
+ journal = {IEEE Robotics \& Automation Magazine},
+ year = {2012},
+ volume = {19},
+ pages = {18 - 19},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@ARTICLE{Cho2012,
+ author = {W. Cho and J. Choi and C. Kim and S. Choi and K. Yi},
+ title = {Unified Chassis Control for the Improvement of Agility, Maneuverability,
+ and Lateral Stability},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2012},
+ volume = {61},
+ pages = {1008-1020},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@ARTICLE{Choi2006,
+ author = {Y.-K. Choi and W. Wang and Y. Liu and M.-S. Kim},
+ title = {Continuous Collision Detection for Two Moving Elliptic Disks},
+ journal = {IEEE Transactions on Robotics},
+ year = {2006},
+ volume = {22},
+ pages = {213-224},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Chung2006,
+ author = {C.~F. Chung and T. Furukawa and A.~H. G{\"o}ktogan},
+ title = {Coordinated Control for capturing a Highly Maneuverable Evader using
+ Forward Reachable Sets},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2006},
+ pages = {1336-1341},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Chutinan2003,
+ author = {A. Chutinan and B.~H. Krogh},
+ title = {Computational Techniques for Hybrid System Verification},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2003},
+ volume = {48},
+ pages = {64-75},
+ number = {1}
+}
+
+@INPROCEEDINGS{Chutinan1999,
+ author = {A. Chutinan and B.~H. Krogh},
+ title = {Verification of Polyhedral-invariant Hybrid Automata using Polygonal
+ Flow Pipe Approximations},
+ booktitle = {Hybrid systems: Computation and Control},
+ year = {1999},
+ series = {LNCS 1569},
+ pages = {76-90},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.07}
+}
+
+@BOOK{Clark1997,
+ title = {Adaptive Structures: dynamics and control},
+ publisher = {John Wiley and Sons},
+ year = {1997},
+ author = {Clark, R.~L. AND Saunders, W.~R. AND Gibbs, G.~P.},
+ file = {#F#},
+ isbn = {0471122629}
+}
+
+@INBOOK{Clarke2003,
+ chapter = {Verification of Hybrid Systems based on Counterexample-Guided Abstraction
+ Refinement},
+ pages = {192-207},
+ title = {Tools and Algorithms for the Construction and Analysis of Systems},
+ publisher = {Springer},
+ year = {2003},
+ author = {Clarke, E. AND Fehnker, A. AND Han, Z. AND Krogh, B. AND Stursberg,
+ O. AND Theobald, M.},
+ series = {LNCS 2619},
+ file = {#F#}
+}
+
+@ARTICLE{Clarke2003b,
+ author = {E. Clarke and A. Fehnker and Z. Han and B.~H. Krogh and J. Ouaknine
+ and O. Stursberg and M. Theobald},
+ title = {Abstraction and Counterexample-Guided Refinement in Model Checking
+ of Hybrid Systems},
+ journal = {International Journal of Foundations of Computer Science},
+ year = {2003},
+ volume = {14},
+ pages = {583-604},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2011.01.04}
+}
+
+@INBOOK{Clarke1981,
+ chapter = {Design and synthesis of synchronization skeletons using branching
+ time temporal logic},
+ pages = {52-71},
+ title = {Logic of Programs 1981},
+ publisher = {Springer},
+ year = {1982},
+ editor = {D. Kozen},
+ author = {E.~M. Clarke and E.~A. Emerson},
+ owner = {matthias},
+ timestamp = {2016.10.14}
+}
+
+@ARTICLE{Clarke1986,
+ author = {E.~M. Clarke and E.~A. Emerson and A.~P. Sistla},
+ title = {Automatic Verification of Finite-State Concurrent Systems Using Temporal
+ Logic Specifications: A Practical Approach},
+ journal = {ACM Transactions on Programming Languages and Systems},
+ year = {1986},
+ volume = {8},
+ pages = {244-263},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@BOOK{Clarke2000,
+ title = {Model Checking},
+ publisher = {MIT Press},
+ year = {2000},
+ author = {Clarke, E.~M. AND Grumberg, O. AND Peled, D.~A.},
+ file = {#F#},
+ isbn = {0262032708}
+}
+
+@INPROCEEDINGS{Clarke1989,
+ author = {E.~M. Clarke and D.~E. Long and K.~L. McMillan},
+ title = {Compositional Model Checking},
+ booktitle = {Proc. of the Fourth Annual Symposium on Logic in Computer Science},
+ year = {1989},
+ pages = {353-362},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@INPROCEEDINGS{Clarke2011,
+ author = {E.~M. Clarke and P. Zuliani},
+ title = {Statistical Model Checking for Cyber-Physical Systems},
+ booktitle = {Proc. of the 9th International Symposium on Automated Technology
+ for Verification and Analysis},
+ year = {2011},
+ series = {LNCS 6996},
+ pages = {1-12},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@INPROCEEDINGS{Cohen2012,
+ author = {B. Cohen and I.~A. \c{S}ucan and S. Chitta},
+ title = {A Generic Infrastructure for Benchmarking Motion Planners},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2012},
+ pages = {589-595},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@ARTICLE{Colombo2015,
+ author = {A. Colombo and D. {Del Vecchio}},
+ title = {Least Restrictive Supervisors for Intersection Collision Avoidance:
+ A Scheduling Approach},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2015},
+ volume = {60},
+ pages = {1515-1527},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2016.05.13}
+}
+
+@INPROCEEDINGS{Colombo2012,
+ author = {A. Colombo and D. {Del Vecchio}},
+ title = {Efficient algorithms for collision avoidance at intersections},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2012},
+ pages = {145-154},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Combastel2005,
+ author = {C. Combastel},
+ title = {A State Bounding Observer for Uncertain Non-linear Continuous-time
+ Systems based on Zonotopes},
+ booktitle = {Proc. of the 44th IEEE Conference on Decision and Control, and the
+ European Control Conference},
+ year = {2005},
+ pages = {7228-7234},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@INPROCEEDINGS{Combastel2003,
+ author = {Combastel, C.},
+ title = {A state bounding observer based on zonotopes},
+ booktitle = {Proc. of the European Control Conference},
+ year = {2003},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Constantin2014,
+ author = {A. Constantin and J. Park and K. Iagnemma},
+ title = {A Margin-Based Approach to Threat Assessment for Autonomous Highway
+ Navigation},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2014},
+ pages = {234-239},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INCOLLECTION{Cooper1984,
+ author = {P.~J. Cooper},
+ title = {Experience with Traffic Conflicts in Canada with Emphasis on Post
+ Encroachment Time Techniques},
+ booktitle = {International Calibration Study of Traffic Conflicts},
+ publisher = {Springer},
+ year = {1984},
+ volume = {5},
+ series = {NATO Advance Study Inst Ser F},
+ pages = {75-96},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{Coppersmith1990,
+ author = {D. Coppersmith and S. Winograd},
+ title = {Matrix Multiplication via Arithmetic Progressions},
+ journal = {Journal of Symbolic Computation},
+ year = {1990},
+ volume = {9},
+ pages = {251-280},
+ owner = {matthias},
+ timestamp = {2016.03.12}
+}
+
+@INBOOK{Cousot1990,
+ chapter = {Methods and Logics for Proving Programs},
+ pages = {843-993},
+ title = {Handbook of Theoretical Computer Science},
+ publisher = {MIT Press},
+ year = {1990},
+ editor = {J. {van Leeuwen}},
+ author = {P. Cousot},
+ volume = {vol. B ``Formal Models and Semantics’’},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@INPROCEEDINGS{Cousot1977,
+ author = {P. Cousot and R. Cousot},
+ title = {Abstract Interpretation: A Unified Lattice Model for Static Analysis
+ of Programs by Construction or Approximation of Fixpoints},
+ booktitle = {Proc. of the 4th ACM Symposium on Principles of Programming Languages},
+ year = {1977},
+ pages = {238-252},
+ owner = {matthias},
+ timestamp = {2013.11.27}
+}
+
+@ARTICLE{Coxson1999,
+ author = {G.~E. Coxson},
+ title = {Computing Exact Bounds on Elements of an Inverse Interval Matrix
+ is {NP}-Hard},
+ journal = {Reliable Computing},
+ year = {1999},
+ volume = {5},
+ pages = {137-142},
+ number = {2},
+ owner = {althoff},
+ timestamp = {2009.05.07}
+}
+
+@INPROCEEDINGS{Cross2008,
+ author = {E.~A. Cross and I.~M. Mitchell},
+ title = {Level Set Methods for Computing Reachable Sets of Systems with Differential
+ Algebraic Equation Dynamics},
+ booktitle = {Proc of the American Control Conference},
+ year = {2008},
+ pages = {2260-2265},
+ owner = {matthias},
+ timestamp = {2012.02.07}
+}
+
+@ARTICLE{Crow1990,
+ author = {M.~L. Crow and M. Ili{\'c}},
+ title = {The parallel implementation of the waveform relaxation method for
+ transient stability simulations},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1990},
+ volume = {5},
+ pages = {922-932},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@INPROCEEDINGS{DInnocenzo2007,
+ author = {A. D'Innocenzo and A.~A. Julius and G.~J. Pappas and M.~D. Di Benedetto
+ and S. Di Gennaro},
+ title = {Verification of temporal properties on hybrid automata by simulation
+ relations},
+ booktitle = {Proc. of the 46th IEEE Conference on Decision and Control},
+ year = {2007},
+ pages = {4039-4044},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@ARTICLE{Braid2006,
+ author = {D. Braid, A. Broggi, G. Schmiedel},
+ title = {The TerraMax autonomous vehicle},
+ journal = {Journal of Field Robotics},
+ year = {2006},
+ volume = {23},
+ pages = {693-708},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@INPROCEEDINGS{Dagli2003,
+ author = {I. Dagli and M. Brost and G. Breuel},
+ title = {Action Recognition and Prediction for Driver Assistance Systems Using
+ Dynamic Belief Networks},
+ booktitle = {Agent Technologies, Infrastructures, Tools, and Applications for
+ E-Services},
+ year = {2003},
+ series = {LNCS 2592},
+ pages = {179-194},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2008.11.13}
+}
+
+@INPROCEEDINGS{Dagli2002,
+ author = {I. Dagli and D. Reichardt},
+ title = {Motivation-based Approach to Behavior Prediction},
+ booktitle = {Proc. of the Intelligent Vehicles Symposium},
+ year = {2002},
+ pages = {227-233},
+ owner = {althoff},
+ timestamp = {2008.04.21}
+}
+
+@INPROCEEDINGS{Damm2007b,
+ author = {W. Damm and S. Disch and H. Hungar and S. Jacobs and J. Pang and
+ F. Pigorsch and C. Scholl and U. Waldmann and B. Wirtz},
+ title = {Exact State Set Representations in the Verification of Linear Hybrid
+ Systems with Large Discrete State Space},
+ booktitle = {Proc. of the 5th Int. Symposium on Automated Technology for Verification
+ and Analysis},
+ year = {2007},
+ pages = {425-440},
+ owner = {matthias},
+ timestamp = {2011.09.30}
+}
+
+@INPROCEEDINGS{Damm2007,
+ author = {W. Damm and A. Mikschl and J. Oehlerking and E.-R. Olderog and J.
+ Pang and A. Platzer and M. Segelken and B. Wirtz},
+ title = {Automating Verification of Cooperation, Control, and Design in Traffic
+ Applications},
+ booktitle = {Formal Methods and Hybrid Real-Time Systems},
+ year = {2007},
+ series = {LNCS 4700},
+ pages = {115-169},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@ARTICLE{Damm2013,
+ author = {W. Damm and H.~J. Peter and J. Rakow and B. Westphal},
+ title = {Can we build it: Formal synthesis of control strategies for cooperative
+ driver assistance systems},
+ journal = {Mathematical Structures in Computer Science},
+ year = {2013},
+ volume = {23},
+ pages = {676-725},
+ number = {4},
+ owner = {hess_da},
+ publisher = {Cambridge Univ Press},
+ timestamp = {2014.09.23}
+}
+
+@ARTICLE{Danescu2011,
+ author = {R. Danescu and F. Oniga and S. Nedevschi},
+ title = {Modeling and Tracking the Driving Environment With a Particle-Based
+ Occupancy Grid},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2011},
+ volume = {12},
+ pages = {1331-1342},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@INBOOK{Dang2011,
+ chapter = {Model-based Testing of Hybrid Systems},
+ pages = {383-423},
+ title = {Model-Based Testing for Embedded Systems},
+ publisher = {CRC Press},
+ year = {2011},
+ editor = {J. Zander and I. Schieferdecker and P.~J. Mosterman},
+ author = {T. Dang},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@INPROCEEDINGS{Dang2006,
+ author = {T. Dang},
+ title = {Approximate Reachability Computation for Polynomial Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ pages = {138-152},
+ owner = {althoff},
+ timestamp = {2008.01.31}
+}
+
+@PHDTHESIS{Dang2000,
+ author = {Dang, T.},
+ title = {V{\'e}rification et synth{\`e}se des syst{\`e}mes hybrides},
+ school = {Institut National Polytechnique de Grenoble},
+ year = {2000}
+}
+
+@INPROCEEDINGS{Dang2004,
+ author = {T. Dang and A. Donze and O. Maler},
+ title = {Verification of Analog and Mixed-Signal Circuits using Hybrid Systems
+ Techniques},
+ booktitle = {Formal Methods for Computer Aided Design},
+ year = {2004},
+ series = {LNCS 3312},
+ pages = {21-36},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2012.02.07}
+}
+
+@INPROCEEDINGS{Dang2009,
+ author = {T. Dang and C. Le Guernic and O. Maler},
+ title = {Computing Reachable States for Nonlinear Biological Models},
+ booktitle = {Computational Methods in Systems Biology},
+ year = {2009},
+ series = {LNCS 5688},
+ pages = {126-141},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.07}
+}
+
+@INPROCEEDINGS{Dang1998,
+ author = {T. Dang and O. Maler},
+ title = {Reachability Analysis via Face Lifting},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {1998},
+ pages = {96-109},
+ owner = {althoff},
+ timestamp = {2008.02.04}
+}
+
+@INPROCEEDINGS{Dang2010,
+ author = {T. Dang and O. Maler and R. Testylier},
+ title = {Accurate Hybridization of Nonlinear Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2010},
+ pages = {11-19},
+ owner = {matthias},
+ timestamp = {2011.02.22}
+}
+
+@ARTICLE{Dang2009c,
+ author = {T. Dang and T. Nahhal},
+ title = {Coverage-guided Test Generation for Continuous and Hybrid Systems},
+ journal = {Formal Methods in System Design},
+ year = {2009},
+ volume = {34},
+ pages = {183 - 213},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@INPROCEEDINGS{Dang2009b,
+ author = {T. Dang and D. Salinas},
+ title = {Image Computation for Polynomial Dynamical Systems using the {Bernstein}
+ Expansion},
+ booktitle = {Computer Aided Verification},
+ year = {2009},
+ series = {LNCS 5643},
+ pages = {219-232},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.07}
+}
+
+@INPROCEEDINGS{Danielsson2007,
+ author = {S. Danielsson and L. Petersson and A. Eidehall},
+ title = {{Monte Carlo} based Threat Assessment: Analysis and Improvements},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {233-238},
+ owner = {althoff},
+ timestamp = {2007.11.28}
+}
+
+@ARTICLE{Danilov2000,
+ author = {V.~I. Danilov and G.~A. Koshevoy},
+ title = {Cores of Cooperative Games, Superdifferentials of Functions, and
+ the {Minkowski} Difference of Sets},
+ journal = {Journal of Mathematical Analysis and Applications},
+ year = {2000},
+ volume = {247},
+ pages = {1-14},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@ARTICLE{Darms2009,
+ author = {M.~S. Darms and P.~E. Rybski and C. Baker and C. Urmson},
+ title = {Obstacle Detection and Tracking for the Urban Challenge},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2009},
+ volume = {10},
+ pages = {475-485},
+ owner = {matthias},
+ timestamp = {2010.08.14}
+}
+
+@ARTICLE{Davis1984,
+ author = {M.~H.~A. Davis},
+ title = {Piecewise-deterministic {Markov} processes: A general class of non-diffusion
+ stochastic models},
+ journal = {Journal of the Royal Statistical Society},
+ year = {1984},
+ volume = {46},
+ pages = {353-388},
+ owner = {althoff},
+ timestamp = {2008.03.04}
+}
+
+@ARTICLE{DeTuglie2008,
+ author = {E. {De Tuglie} and S.~M. Iannone and F. Torelli},
+ title = {A Coherency Recognition Based on Structural Decomposition Procedure},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2008},
+ volume = {23},
+ pages = {555-563},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.07.04}
+}
+
+@BOOK{Deibert1997,
+ title = {Methoden zur Fehlererkennung an Komponenten im geschlossenen Regelkreis},
+ publisher = {VDI Fortschrittberichte},
+ year = {1997},
+ author = {Deibert, R.},
+ file = {#F#},
+ isbn = {3183650088}
+}
+
+@INPROCEEDINGS{Delingette1991,
+ author = {Delingette, H. AND Hebert, M. AND Ikeuchi, K.},
+ title = {Trajectory Generation with Curvature Constraint based on Energy Minimization},
+ booktitle = {International Workshop on Intelligent Robots and Systems},
+ year = {1991},
+ pages = {206--211},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Denman2009,
+ author = {W. Denman and B. Akbarpour and S. Tahar and M.~H. Zaki and L.~C.
+ Paulson},
+ title = {Formal Verification of Analog Designs using {MetiTarski}},
+ booktitle = {Formal Methods in Computer-Aided Design},
+ year = {2009},
+ pages = {93 - 100},
+ owner = {matthias},
+ timestamp = {2011.03.17}
+}
+
+@ARTICLE{Dey2006,
+ author = {P.~P. Dey and S. Chandra and S. Gangopadhaya},
+ title = {Lateral Distribution of Mixed Traffic on Two-Lane Roads},
+ journal = {Journal of Transportation Engineering},
+ year = {2006},
+ volume = {132},
+ pages = {597-600},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@TECHREPORT{Diankov2008,
+ author = {R. Diankov and J. Kuffner},
+ title = {{OpenRAVE}: A Planning Architecture for Autonomous Robotics},
+ institution = {Carnegie Mellon University},
+ year = {2008},
+ number = {CMU-RI-TR-08-34},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@BOOK{Dickmanns2007,
+ title = {Dynamic Vision for Perception and Control of Motion},
+ publisher = {Springer},
+ year = {2007},
+ author = {E.~D. Dickmanns},
+ owner = {althoff},
+ timestamp = {2008.03.10}
+}
+
+@INPROCEEDINGS{Dickmanns1994,
+ author = {E.~D. Dickmanns and R. Behringer and D. Dickmanns and T. Hildebrandt
+ and M. Maurer and F. Thomanek and J. Schiehlen},
+ title = {The Seeing Passenger Car 'VaMoRs-P'},
+ booktitle = {Proc. of the Intelligent Vehicles Symposium},
+ year = {1994},
+ pages = {68 - 73},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@ARTICLE{Dietzenbacher1993,
+ author = {E. Dietzenbacher},
+ title = {A Limiting Property for the Powers of a Non-Negative, Reducible Matrix},
+ journal = {Structural Change and Economic Dynamics},
+ year = {1993},
+ volume = {4},
+ pages = {353-366},
+ owner = {matthias},
+ timestamp = {2010.06.16}
+}
+
+@ELECTRONIC{Dillmann2004,
+ author = {R. Dillmann},
+ year = {2004},
+ title = {Benchmarks for Robotics Research},
+ note = {Deliverable KA 1.10 of the EU project EURON},
+ url = {http://www.cas.kth.se/euron/euron-deliverables/ka1-10-benchmarking.pdf},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INBOOK{Dingus1998,
+ chapter = {Human Factors Design Issues for Crash Avoidance Systems},
+ pages = {55-93},
+ title = {Human Factors in Intelligent Transportation Systems},
+ publisher = {Psychology Press},
+ year = {1998},
+ editor = {W. Barfield and T.~A. Dingus},
+ author = {T.~A. Dingus and S.~K. Jahns and A.~D. Horowitz and R. Knipling},
+ owner = {matthias},
+ timestamp = {2016.05.16}
+}
+
+@INPROCEEDINGS{Doboli2002,
+ author = {A. Doboli and R. Vemuri},
+ title = {A Functional Specification Notation for Co-Design of Mixed Analog-Digital
+ Systems},
+ booktitle = {Proc. of Design, Automation and Test in Europe},
+ year = {2002},
+ pages = {760 - 767},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@INPROCEEDINGS{Donze2010,
+ author = {A. Donz{\'e}},
+ title = {Breach, A Toolbox for Verification and Parameter Synthesis of Hybrid
+ Systems},
+ booktitle = {Proc. of Computer-Aided Verification},
+ year = {2010},
+ pages = {167-170},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@PHDTHESIS{Donze2007b,
+ author = {A. Donz{\'e}},
+ title = {Trajectory-Based Verification and Controller Synthesis for Continuous
+ and Hybrid Systems},
+ school = {University Joseph Fourier},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Donze2007,
+ author = {A. Donz{\'e} and O. Maler},
+ title = {Systematic simulations using sensitivity analysis.},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2007},
+ series = {LNCS 4416},
+ pages = {174-189},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@INPROCEEDINGS{Donze2012,
+ author = {A. Donz{\'e} and O. Maler and E. Bartocci and D. Nickovic and R.
+ Grosu and S. Smolka},
+ title = {On Temporal Logic and Signal Processing},
+ booktitle = {Proc. of Automated Technology for Verification and Analysis},
+ year = {2012},
+ pages = {92-106},
+ owner = {matthias},
+ timestamp = {2015.11.30}
+}
+
+@INPROCEEDINGS{Dueri2014,
+ author = {D. Dueri and B. A\c{c}{\i}kme\c{s}e and M. Baldwin and R.~S. Erwin},
+ title = {Finite-Horizon Controllability and Reachability for Deterministic
+ and Stochastic Linear Control Systems with Convex Constraints},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2014},
+ pages = {5016-5023},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@INPROCEEDINGS{Durali2006,
+ author = {M. Durali AND G.~A. Javid AND A. Kasaiezadeh},
+ title = {Collision Avoidance Maneuver for an Autonomous Vehicle},
+ booktitle = {Proc. of the 9th International Workshop on Advanced Motion Control},
+ year = {2006},
+ pages = {249-254},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Dyer1998,
+ author = {M. Dyer and P. Gritzmann and A. Hufnagel},
+ title = {On the Complexity of Computing Mixed Volumes},
+ journal = {SIAM Journal on Computing},
+ year = {1998},
+ volume = {27},
+ pages = {356-400},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2010.06.30}
+}
+
+@TECHREPORT{Eberly2002,
+ author = {D. Eberly},
+ title = {Dynamic Collision Detection using Oriented Bounding Boxes},
+ institution = {Geometric Tools, Inc.},
+ year = {2002},
+ file = {Eberly2002.pdf:literature/Eberly2002.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.11.05}
+}
+
+@INPROCEEDINGS{Eggers2009,
+ author = {A. Eggers and M. Fr\"anzle and C. Herde},
+ title = {Application of Constraint Solving and ODE-Enclosure Methods to the
+ Analysis of Hybrid Systems},
+ booktitle = {Proc. of the International Conference on Numerical Analysis and Applied
+ Mathematics},
+ year = {2009},
+ pages = {1326-1330},
+ owner = {matthias},
+ timestamp = {2014.01.16}
+}
+
+@INPROCEEDINGS{Eggers2011,
+ author = {A. Eggers and N. Ramdani and N.~S. Nedialkov and M. Fr{\"a}nzle},
+ title = {Improving SAT Modulo ODE for Hybrid Systems Analysis by Combining
+ Different Enclosure Methods},
+ booktitle = {Proc. of the 9th International Conference on Software Engineering
+ and Formal Methods},
+ year = {2011},
+ pages = {172-187},
+ owner = {matthias},
+ timestamp = {2011.11.11}
+}
+
+@INPROCEEDINGS{Ehlert2001,
+ author = {P.A.M.~Ehlert and L.J.M.~Rothkrantz},
+ title = {Microscopic traffic simulation with reactive driving agents},
+ booktitle = {Proc. of the IEEE intelligent Transportation Systems Conference},
+ year = {2001},
+ pages = {860-865},
+ owner = {althoff},
+ timestamp = {2007.12.02}
+}
+
+@INPROCEEDINGS{Eidehall2011,
+ author = {A. Eidehall},
+ title = {Multi-Target Threat Assessment for Automotive Applications},
+ booktitle = {Proc. of the 14th Int. IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2011},
+ pages = {433-438},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@ARTICLE{Eidehall2008,
+ author = {A. Eidehall and L. Petersson},
+ title = {Statistical Threat Assessment for General Road Scenes Using {Monte
+ Carlo} Sampling},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2008},
+ volume = {9},
+ pages = {137-147},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@INPROCEEDINGS{Eidehall2006,
+ author = {Eidehall, A. and Petersson, L.},
+ title = {Threat Assessment for General Road Scenes using {Monte Carlo} Sampling},
+ booktitle = {Proc. of the Intelligent Transportation Systems Conference},
+ year = {2006},
+ pages = {1173-1178},
+ owner = {althoff},
+ timestamp = {2007.11.28}
+}
+
+@ARTICLE{Eidehall2007,
+ author = {A. Eidehall and J. Pohl and F. Gustafsson and J. Ekmark},
+ title = {Toward Autonomous Collision Avoidance by Steering},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2007},
+ volume = {8},
+ pages = {84-94},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2011.03.07}
+}
+
+@ARTICLE{Eilers2013,
+ author = {M. Eilers and C. M{\"o}bus and F. Tango and O. Pietquin},
+ title = {The Learning of Longitudinal Human Driving Behavior and Driver Assistance
+ Strategies},
+ journal = {Transportation Research Part F: Traffic Psychology and Behaviour},
+ year = {2013},
+ volume = {21},
+ pages = {295 - 314},
+ annote = {Predict human behavior to decrease the amount of rear-front-accidents.},
+ bdsk-url-1 = {http://www.sciencedirect.com/science/article/pii/S136984781300096X},
+ bdsk-url-2 = {http://dx.doi.org/10.1016/j.trf.2013.09.021},
+ date-modified = {2015-11-25 9:35:03 PM +0000},
+ issn = {1369-8478},
+ owner = {matthias},
+ read = {1},
+ timestamp = {2016.01.12}
+}
+
+@INPROCEEDINGS{Ellis2007,
+ author = {C. Ellis and H. Nouri and R. Ciric and B. Miedzi{\'n}sky},
+ title = {Overview of the Development, Simplification and Numerical Analysis
+ of Synchronous Machine Models for Stability Studies},
+ booktitle = {Proc. of the 42nd Int. Universities Power Engineering Conference},
+ year = {2007},
+ pages = {1019-1023},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Elmqvist1997,
+ author = {H. Elmqvist and S.~E. Mattsson},
+ title = {Modelica -- The Next Generation Modeling Language -- An International
+ Design Effort},
+ booktitle = {Proc. of the World Congress of System Simulation},
+ year = {1997},
+ owner = {matthias},
+ timestamp = {2012.02.14}
+}
+
+@ARTICLE{Ely1993,
+ author = {J.~S. Ely},
+ title = {The {VPI} Software Package for Variable Precision Interval Arithmetic},
+ journal = {Interval Computations},
+ year = {1993},
+ volume = {2},
+ pages = {135-153},
+ owner = {matthias},
+ timestamp = {2016.02.03}
+}
+
+@INPROCEEDINGS{Erickson2009,
+ author = {Erickson, Lawrence H and LaValle, Steven M},
+ title = {Survivability: Measuring and ensuring path diversity},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2009},
+ pages = {2068-2073},
+ owner = {matthias},
+ timestamp = {2013.07.24}
+}
+
+@INPROCEEDINGS{Esparza2000,
+ author = {J. Esparza and D. Hansel and P. Rossmanith and S. Schwoon},
+ title = {Efficient Algorithms for Model Checking Pushdown Systems},
+ booktitle = {Proc. of International Conference on Computer Aided Verification},
+ year = {2000},
+ pages = {232-247},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@INPROCEEDINGS{Esposito2004,
+ author = {J.~M. Esposito},
+ title = {Randomized Test Case Generation for Hybrid Systems: Metric Selection},
+ booktitle = {Proc. of the 36th Southeastern Symposium of System Theory},
+ year = {2004},
+ pages = {236-240},
+ owner = {althoff},
+ timestamp = {2008.01.31}
+}
+
+@MISC{Evans,
+ author = {L.~E.~ Evans},
+ title = {An Introduction to Stochastic Differential Equations},
+ howpublished = {Lecture notes, Department of Mathematics, UC Berkeley},
+ owner = {althoff},
+ timestamp = {2007.10.12},
+ url = {http://math.berkeley.edu/}
+}
+
+@ARTICLE{Fainekos2009,
+ author = {G.~E. Fainekos and A. Girard and H. Kress-Gazit and G.~J. Pappas},
+ title = {Temporal Logic Motion Planning for Dynamic Robots},
+ journal = {Automatica},
+ year = {2009},
+ volume = {45},
+ pages = {343-352},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@ARTICLE{Falcone2011,
+ author = {P. Falcone and M. Ali and J. Sj{\"o}berg},
+ title = {Predictive Threat Assessment via Reachability Analysis and Set Invariance
+ Theory},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2011},
+ volume = {12},
+ pages = {1352-1361},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@INPROCEEDINGS{Fashoro1991,
+ author = {M. Fashoro},
+ title = {Geometric Properties of Constrained Linear Systems},
+ booktitle = {Proc. of the 23rd Southeastern Symposium on System Theory},
+ year = {1991},
+ pages = {306-318},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@INPROCEEDINGS{Fehnker2004,
+ author = {A.~Fehnker and F.~Ivan\v{c}i\'{c}},
+ title = {Benchmarks for Hybrid Systems Verification},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2004},
+ series = {LNCS 2993},
+ pages = {326-341},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2007.09.18}
+}
+
+@ARTICLE{Felsner2001,
+ author = {S. Felsner and G.~M. Ziegler},
+ title = {Zonotopes Associated with Higher {Bruhat} Orders},
+ journal = {Discrete Mathematics},
+ year = {2001},
+ volume = {241},
+ pages = {301-312},
+ owner = {matthias},
+ timestamp = {2016.06.01}
+}
+
+@INPROCEEDINGS{Fergani2012,
+ author = {S. Fergani and O. Sename and L. Dugard},
+ title = {Performances improvement through an LPV/H{$\infty$} control coordination
+ strategy involving braking, semi-active suspension and steering Systems},
+ booktitle = {Proc. of the 51st IEEE Conference on Decision and Control},
+ year = {2012},
+ pages = {4384-4389},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@INPROCEEDINGS{Ferguson2008,
+ author = {D. Ferguson and M. Darms and C. Urmson and S. Kolski},
+ title = {Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban
+ Environments},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1149-1154},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@ARTICLE{Ferrez2005,
+ author = {J.-A. Ferrez and K. Fukuda and T~.M. Liebling},
+ title = {Solving the Fixed Rank Convex Quadratic Maximization in Binary Variables
+ by a Parallel Zonotope Construction Algorithm},
+ journal = {European Journal of Operational Research},
+ year = {2005},
+ volume = {166},
+ pages = {35-50},
+ owner = {matthias},
+ timestamp = {2016.06.22}
+}
+
+@ARTICLE{Filieri2012,
+ author = {A. Filieri and C. Ghezzi and G. Tamburrelli},
+ title = {A formal approach to adaptive software: continuous assurance of non-functional
+ requirements},
+ journal = {Formal Aspects of Computing},
+ year = {2012},
+ volume = {24},
+ pages = {163-186},
+ owner = {matthias},
+ timestamp = {2016.09.29}
+}
+
+@INPROCEEDINGS{Filieri2011,
+ author = {A. Filieri and C. Ghezzi and G. Tamburrelli},
+ title = {Run-Time Efficient Probabilistic Model Checking},
+ booktitle = {Proc. of International Conference on Software Engineering},
+ year = {2011},
+ pages = {341-350},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@INPROCEEDINGS{Filieri2013,
+ author = {Antonio Filieri and Corina S. P\u{a}s\u{a}reanu and Willem Visser},
+ title = {Reliability Analysis in Symbolic Pathfinder},
+ booktitle = {Proc. of the 35th International Conference on Software Engineering},
+ year = {2013},
+ pages = {622-631},
+ owner = {matthias},
+ timestamp = {2016.09.29}
+}
+
+@INPROCEEDINGS{Filzek2001,
+ author = {B. Filzek and B. Breuer},
+ title = {Distance Behavior on Motorways with Regard to Active Safety---A Comparison
+ Between {Adaptive-Cruise-Control (ACC)} and Driver},
+ booktitle = {International Technical Conference Enhanced Safety of Vehicles},
+ year = {2001},
+ owner = {matthias},
+ timestamp = {2016.01.16}
+}
+
+@INBOOK{Fix2008,
+ chapter = {Fifteen Years of Formal Property Verification in Intel},
+ pages = {139-144},
+ title = {25 Years of Model Checking},
+ publisher = {Springer},
+ year = {2008},
+ editor = {O. Grumberg and H. Veith},
+ author = {L. Fix},
+ owner = {matthias},
+ timestamp = {2012.07.29}
+}
+
+@BOOK{Fletcher1984,
+ title = {Computational Galerkin Methods},
+ publisher = {Springer},
+ year = {1984},
+ author = {Fletcher, C.~A.~J.},
+ file = {#F#},
+ isbn = {0387126333}
+}
+
+@ARTICLE{Flieller2006,
+ author = {D. Flieller and P. Riedinger and J.~P. Louis},
+ title = {Computation and Stability of Limit Cycles in Hybrid Systems},
+ journal = {Nonlinear Analysis},
+ year = {2006},
+ volume = {64},
+ pages = {352-367},
+ owner = {matthias},
+ timestamp = {2011.11.21}
+}
+
+@INPROCEEDINGS{Fox1996,
+ author = {D. Fox AND W. Burgardt AND S. Thrun},
+ title = {Controlling Synchro-drive Robots with the Dynamic Window Approach
+ to Collision Avoidance},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {1996},
+ pages = {1280-1287},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Frazzoli2005,
+ author = {E. Frazzoli and M.~A. Dahleh and E. Feron},
+ title = {Maneuver-Based Motion Planning for Nonlinear Systems With Symmetries},
+ journal = {IEEE Transactions on Robotics},
+ year = {2005},
+ volume = {21},
+ pages = {1077-1091},
+ number = {6},
+ owner = {dahe9687},
+ publisher = {IEEE},
+ timestamp = {2013.12.18}
+}
+
+@INPROCEEDINGS{Frazzolli2000,
+ author = {E. Frazzoli and M.~A. Dahleh and E. Feron},
+ title = {Robust Hybrid Control for Autonomous Vehicle Motion Planning},
+ booktitle = {Proc. of the 39th IEEE Conferenceon Decision and Control},
+ year = {2000},
+ pages = {821-826},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{Frehse2008,
+ author = {G. Frehse},
+ title = {{PHAVer}: Algorithmic Verification of Hybrid Systems past {HyTech}},
+ journal = {International Journal on Software Tools for Technology Transfer},
+ year = {2008},
+ volume = {10},
+ pages = {263-279},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Frehse05,
+ author = {Goran Frehse},
+ title = {{PHAVer}: Algorithmic Verification of Hybrid Systems Past {HyTech}.},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2005},
+ series = {LNCS 3413},
+ pages = {258-273},
+ publisher = {Springer}
+}
+
+@PHDTHESIS{Frehse2005,
+ author = {G. Frehse},
+ title = {Compositional Verification of Hybrid Systems using Simulation Relations},
+ school = {Radboud Universiteit Nijmegen},
+ year = {2005},
+ owner = {althoff},
+ timestamp = {2010.01.09}
+}
+
+@INPROCEEDINGS{Frehse2011,
+ author = {G. Frehse and C. Le Guernic and A. Donz\'e and S. Cotton and R. Ray
+ and O. Lebeltel and R. Ripado and A. Girard and T. Dang and O. Maler},
+ title = {{SpaceEx}: Scalable Verification of Hybrid Systems},
+ booktitle = {Proc. of the 23rd International Conference on Computer Aided Verification},
+ year = {2011},
+ series = {LNCS 6806},
+ pages = {379-395},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2011.08.10}
+}
+
+@INPROCEEDINGS{Frehse2008b,
+ author = {G. Frehse and S.~K. Jha and B.~H. Krogh},
+ title = {A Counterexample-Guided Approach to Parameter Synthesis for Linear
+ Hybrid Automata},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2008},
+ pages = {187-200},
+ owner = {matthias},
+ timestamp = {2016.03.11}
+}
+
+@INPROCEEDINGS{Frehse2006,
+ author = {G. Frehse and B.~H. Krogh and R.~A. Rutenbar},
+ title = {Verifying Analog Oscillator Circuits Using Forward/Backward Abstraction
+ Refinement},
+ booktitle = {Proc. of Design, Automation and Test in Europe},
+ year = {2006},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@INPROCEEDINGS{Frehse2012,
+ author = {G. Frehse and R. Ray},
+ title = {Flowpipe-Guard Intersection for Reachability Computations with Support
+ Functions},
+ booktitle = {Proc. of Analysis and Design of Hybrid Systems},
+ year = {2012},
+ pages = {94-101},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@INPROCEEDINGS{Frehse2012b,
+ author = {G. Frehse and R. Ray},
+ title = {Flowpipe-Guard Intersection for Reachability Computations with Support
+ Functions},
+ booktitle = {Proc. of the 4th IFAC Conference on Analysis and Design of Hybrid
+ Systems},
+ year = {2012},
+ pages = {94-101},
+ owner = {matthias},
+ timestamp = {2016.10.11}
+}
+
+@INPROCEEDINGS{Freyer2007,
+ author = {J. Freyer and B. Deml and M. Maurer and B. F{\"a}rber},
+ title = {{ACC} with enhanced situation awareness to reduce behavior adaptations
+ in lane change situations},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {999-1004},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Fribourg2013,
+ author = {L. Fribourg and U. K{\"u}hne and R. Soulat},
+ title = {Constructing Attractors of Nonlinear Dynamical Systems by State Space
+ Decomposition},
+ booktitle = {Proc. of the 1st French-Singaporean Workshop on Formal Methods and
+ Applications},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Fraenzle2007,
+ author = {M. Fr{\"a}nzle and C. Herde},
+ title = {{HySAT}: An efficient proof engine for bounded model checking of
+ hybrid systems},
+ journal = {Formal Methods in System Design},
+ year = {2007},
+ volume = {30},
+ pages = {179-198},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@ARTICLE{Fukuda2004,
+ author = {Fukuda, K.},
+ title = {From the Zonotope Construction to the {Minkowski} Addition of Convex
+ Polytopes},
+ journal = {Journal of Symbolic Computation},
+ year = {2004},
+ volume = {38},
+ pages = {1261-1272},
+ number = {4},
+ month = {October},
+ file = {#F#}
+}
+
+@ELECTRONIC{Fukuda2004b,
+ author = {K. Fukuda},
+ year = {2004},
+ title = {Frequently Asked Questions in Polyhedral Computation},
+ url = {http://www.ifor.math.ethz.ch/~fukuda/polyfaq/polyfaq.html},
+ owner = {matthias},
+ timestamp = {2015.08.04}
+}
+
+@ARTICLE{Fabian2001,
+ author = {G. F{\'a}bi{\'a}n and D.~A. {van Beek} and J.~E. Rooda},
+ title = {Index Reduction and Discontinuity Handling using Substitute Equations},
+ journal = {Mathematical and Computer Modelling of Dynamical Systems},
+ year = {2001},
+ volume = {7},
+ pages = {173-187},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@ARTICLE{Gabibulayev2007,
+ author = {M. Gabibulayev and B. Ravani},
+ title = {A Stochastic Form of a Human Driver Steering Dynamics Model},
+ journal = {Journal of Dynamic Systems, Measurement, and Control},
+ year = {2007},
+ volume = {129},
+ pages = {322-336},
+ owner = {matthias},
+ timestamp = {2010.11.27}
+}
+
+@ARTICLE{Gabrijel2002,
+ author = {U. Gabrijel and R. Mihalic},
+ title = {Direct Methods for Transient Stability Assessment in Power Systems
+ Comprising Controllable Series Devices},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2002},
+ volume = {17},
+ pages = {1116-1122},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.04.17}
+}
+
+@INPROCEEDINGS{Gao2007,
+ author = {F. Gao and R. Iravani},
+ title = {Modeling and Control Design of a Micro-Turbine Generator Unit},
+ booktitle = {Proc. of the IEEE Power Engineering Society General Meeting},
+ year = {2007},
+ pages = {1-8},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Gao2013,
+ author = {S. Gao and S. Kong and E. Clarke},
+ title = {{dReal}: An {SMT} Solver for Nonlinear Theories of the Reals},
+ booktitle = {Proc. of the Conference on Automated Deduction},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@INPROCEEDINGS{Gao2013b,
+ author = {S. Gao and S. Kong and E. Clarke},
+ title = {Satisfiability Modulo {ODEs}},
+ booktitle = {Proc. of Formal Methods in Computer-Aided Design},
+ year = {2013},
+ pages = {105-112},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@BOOK{Garder2005,
+ title = {Phaselock Techniques},
+ publisher = {John Wiley},
+ year = {2005},
+ author = {F.~M. Garder},
+ address = {Hoboken NJ},
+ edition = {Third Edition},
+ owner = {matthias},
+ timestamp = {2011.04.13}
+}
+
+@BOOK{Gardiner1983,
+ title = {Handbook of Stochastic Methods: For Physics, Chemistry and the Natural
+ Sciences},
+ publisher = {Springer},
+ year = {1983},
+ editor = {H. Haken},
+ author = {C.~W. Gardiner},
+ owner = {althoff},
+ timestamp = {2008.02.26}
+}
+
+@ARTICLE{Gaspar2005,
+ author = {P. Gaspar and I. Szaszi and J. Bokor},
+ title = {Reconfigurable Control Structure to Prevent the Rollover of Heavy
+ Vehicles},
+ journal = {Control Engineering Practice},
+ year = {2005},
+ volume = {13},
+ pages = {699-711},
+ owner = {matthias},
+ timestamp = {2017.01.16}
+}
+
+@ARTICLE{Gaspar2004,
+ author = {P. Gaspar and I. Szaszi and J. Bokor},
+ title = {The Design of a Combined Control Structure to Prevent the Rollover
+ of Heavy Vehicles},
+ journal = {European Journal of Control},
+ year = {2004},
+ volume = {10},
+ pages = {1-15},
+ owner = {matthias},
+ timestamp = {2010.08.30}
+}
+
+@INPROCEEDINGS{Gayek1991,
+ author = {J.~E. Gayek},
+ title = {A Survey of Techniques for Approximating Reachable and Controllable
+ Sets},
+ booktitle = {Proc. of the 30th IEEE Conference on Decision and Control},
+ year = {1991},
+ pages = {1724 - 1729},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Gear1988,
+ author = {C.~W. Gear},
+ title = {Differential-Algebraic Equation Index Transformations},
+ journal = {SIAM Journal on Scientific Computing},
+ year = {1988},
+ volume = {9},
+ pages = {39-47},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@ARTICLE{Geiger2013,
+ author = {A. Geiger and P. Lenz and C. Stiller and R. Urtasun},
+ title = {Vision meets robotics: The {KITTI} dataset},
+ journal = {The International Journal of Robotics Research},
+ year = {2013},
+ volume = {32},
+ pages = {1231-1237},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@ARTICLE{Georgiev2008,
+ author = {D. Georgiev and P.~T. Kabamba and D.~M. Tilbury},
+ title = {A New Model for Team Optimization: The Effects of Uncertainty on
+ Interaction},
+ journal = {IEEE Transactions on Systems, Man and Cybernetics - Part A: Systems
+ and Humans},
+ year = {2008},
+ volume = {38},
+ pages = {1234-1247},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2015.11.10}
+}
+
+@INPROCEEDINGS{Bobaru2008,
+ author = {M. {Gheorghiu Bobaru} and C.~S. P\u{a}s\u{a}reanu and D. Giannakopoulou},
+ title = {Automated Assume-Guarantee Reasoning by Abstraction Refinement},
+ booktitle = {Proc. of the 20th International Conference on Computer Aided Verification},
+ year = {2008},
+ pages = {135-148},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@INPROCEEDINGS{Ghorbal2010,
+ author = {K. Ghorbal and E. Goubault and S. Putot},
+ title = {A Logical Product Approach to Zonotope Intersection},
+ booktitle = {Proc. of the 27th International Conference on Computer Aided Verification},
+ year = {2010},
+ pages = {212-226},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@INPROCEEDINGS{Ghorbal2009,
+ author = {K. Ghorbal and E. Goubault and S. Putot},
+ title = {The Zonotope Abstract Domain {Taylor1+}},
+ booktitle = {Proc. of the 21st International Conference on Computer Aided Verification},
+ year = {2009},
+ pages = {627-633},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@ARTICLE{Ghosh1997,
+ author = {M.~K. Ghosh and A. Arapostathis and S.~I. Marcus},
+ title = {Ergodic Control of Switching Diffusions},
+ journal = {SIAM Journal on Control Optimization},
+ year = {1997},
+ volume = {35},
+ pages = {1952-1988},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@ARTICLE{Ghosh1991,
+ author = {P.~K. Ghosh},
+ title = {An Algebra of Polygons through the Notion of Negative Shapes},
+ journal = {CVGIP: Image Understanding},
+ year = {1991},
+ volume = {54},
+ pages = {119-144},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.08.19}
+}
+
+@ARTICLE{Ghosh1991b,
+ author = {S.~K. Ghosh and D.~M. Mount},
+ title = {An Output-Sensitive Algorithm for Computing Visibility Graphs},
+ journal = {SIAM Journal on Computing},
+ year = {1991},
+ volume = {20},
+ pages = {888-910},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2016.01.05}
+}
+
+@INPROCEEDINGS{Gillulay2010,
+ author = {J.~H. Gillula and H. Haomiao and M.~P. Vitus and C.~J. Tomlin},
+ title = {Design of Guaranteed Safe Maneuvers using Reachable Sets: Autonomous
+ Quadrotor Aerobatics in Theory and Practice},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2010},
+ pages = {1649-1654},
+ owner = {matthias},
+ timestamp = {2011.05.11}
+}
+
+@ARTICLE{Gilmore1960,
+ author = {P.~C. Gilmore},
+ title = {A Proof Method for Quantification Theory: Its Justification and Realization},
+ journal = {IBM Journal of Research and Development},
+ year = {1960},
+ volume = {4},
+ pages = {28-35},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.11.27}
+}
+
+@ARTICLE{Gindele2015,
+ author = {T. Gindele and S. Brechtel and R. Dillmann},
+ title = {Learning Driver Behavior Models from Traffic Observations for Decision
+ Making and Planning},
+ journal = {IEEE Intelligent Transportation Systems Magazine},
+ year = {2015},
+ volume = {7},
+ pages = {69-79},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.11.26}
+}
+
+@INPROCEEDINGS{Gindele2009,
+ author = {T. Gindele and S. Brechtel and J. Schr{\"o}der and R. Dillmann},
+ title = {Bayesian Occupancy Grid Filter for Dynamic Environments Using Prior
+ Map Knowledge},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {669-676},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Girard2005,
+ author = {Girard, A.},
+ title = {Reachability of uncertain linear systems using zonotopes},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2005},
+ series = {LNCS 3414},
+ pages = {291--305},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Girard2008,
+ author = {A. Girard and C. {Le Guernic}},
+ title = {Zonotope/Hyperplane Intersection for Hybrid Systems Reachability
+ Analysis},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2008},
+ series = {LNCS 4981},
+ pages = {215-228},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2008.09.01}
+}
+
+@INPROCEEDINGS{Girard2008b,
+ author = {A. Girard and C. {Le Guernic}},
+ title = {Efficient Reachability Analysis for Linear Systems using Support
+ Functions},
+ booktitle = {Proc. of the 17th IFAC World Congress},
+ year = {2008},
+ pages = {8966-8971},
+ owner = {althoff},
+ timestamp = {2009.01.08}
+}
+
+@INPROCEEDINGS{Girard2006,
+ author = {A. Girard and C. {Le Guernic} and O. Maler},
+ title = {Efficient Computation of Reachable Sets of Linear Time-Invariant
+ Systems with Inputs},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ series = {LNCS 3927},
+ pages = {257-271},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.01.14}
+}
+
+@ARTICLE{Girard2012,
+ author = {A. Girard and S. Martin},
+ title = {Synthesis for Constrained Nonlinear Systems Using Hybridization and
+ Robust Controllers on Simplices},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2012},
+ volume = {57},
+ pages = {1046-1051},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2015.09.23}
+}
+
+@ARTICLE{Girard2011,
+ author = {A. Girard and G.~J. Pappas},
+ title = {Approximate Bisimulation: A Bridge Between Computer Science and Control
+ Theory},
+ journal = {European Journal of Control, 17(5-6):568-578, 2011},
+ year = {2011},
+ volume = {17},
+ pages = {568-578},
+ number = {5-6},
+ owner = {matthias},
+ timestamp = {2014.02.17}
+}
+
+@INPROCEEDINGS{Girard2006b,
+ author = {A. Girard and G.~J. Pappas},
+ title = {Verification using Simulation},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ series = {LNCS 3927},
+ pages = {272-286},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Girard20xx,
+ author = {A. Girard and G. Zheng},
+ title = {Verification of Safety and Liveness Properties of Metric Transition
+ Systems},
+ journal = {ACM Transactions on Embedded Computing Systems},
+ year = {xx},
+ volume = {xx},
+ pages = {xx},
+ owner = {matthias},
+ timestamp = {2011.10.03}
+}
+
+@ARTICLE{Glover1971,
+ author = {J.~D. Glover and F.~C. Schweppe},
+ title = {Control of Linear Dynamic Systems with Set Constrained Disturbances},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1971},
+ volume = {16},
+ pages = {411-423},
+ number = {5},
+ owner = {althoff},
+ timestamp = {2010.03.23}
+}
+
+@INPROCEEDINGS{Godbole1997,
+ author = {D.~N. Godbole and V. Hagenmeyer and R. Sengupta and D. Swaroop},
+ title = {Design of Emergency Maneuvers for Automated Highway System: Obstacle
+ Avoidance Problem},
+ booktitle = {Proc. of the 36th Conference on Decision \& Control},
+ year = {1997},
+ pages = {4774-4779},
+ owner = {matthias},
+ timestamp = {2017.01.17}
+}
+
+@PHDTHESIS{Goebl2009,
+ author = {M. Goebl},
+ title = {Eine realzeitf{\"a}hige Architektur zur Integration kognitiver Funktionen},
+ school = {TU M{\"u}nchen},
+ year = {2009},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@INPROCEEDINGS{Goebl2007,
+ author = {M. Goebl and G. F{\"a}rber},
+ title = {A Real-Time-capable Hard- and Software Architecture for Joint Image
+ and Knowledge Processing in Cognitive Automobiles},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {734-740},
+ owner = {althoff},
+ timestamp = {2009.03.26}
+}
+
+@INPROCEEDINGS{Goebl2007b,
+ author = {M. Goebl and G. F{\"a}rber},
+ title = {A Real-Time-capable Hard- and Software Architecture for Joint Image
+ and Knowledge Processing in Cognitive Automobiles},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {734-740},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@ARTICLE{Gol2014,
+ author = {E.~A. Gol and M. Lazar and C. Belta},
+ title = {Language-Guided Controller Synthesis for Linear Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2014},
+ volume = {59},
+ pages = {1163-1176},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2015.09.23}
+}
+
+@ARTICLE{Goldberg1991,
+ author = {D. Goldberg},
+ title = {What Every Computer Scientist Should Know About Floating Point Arithmetic},
+ journal = {ACM Computing Surveys},
+ year = {1991},
+ volume = {23},
+ pages = {5-48},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.02.12}
+}
+
+@INPROCEEDINGS{Goldfeder2009,
+ author = {C. Goldfeder and M. Ciocarlie and H. Dang and P.~K. Allen},
+ title = {The {Columbia Grasp Database}},
+ booktitle = {Proc. of IEEE International Conference on Robotics and Automation},
+ year = {2009},
+ pages = {1710-1716},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INPROCEEDINGS{Goldman2003,
+ author = {C.~V. Goldman and S. Zilberstein},
+ title = {Optimizing Information Exchange in Cooperative Multi-agent Systems},
+ booktitle = {Proc. of the 2nd International Joint Conference on Autonomous Agents
+ and Multiagent Systems},
+ year = {2003},
+ pages = {137-144},
+ owner = {matthias},
+ timestamp = {2016.10.11}
+}
+
+@ARTICLE{Gomes2003,
+ author = {S. Gomes and N. Martins and C. Portela},
+ title = {Computing Small-Signal Stability Boundaries for Large-Scale Power
+ Systems},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2003},
+ volume = {18},
+ pages = {747-752},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@ARTICLE{Gonzalez2011,
+ author = {R. Gonzalez and M. Fiacchini and T. Alamo and J.~L. Guzman and F.
+ Rodriguez},
+ title = {Online Robust Tube-Based {MPC} for Time-Varying Systems: A Practical
+ Approach},
+ journal = {International Journal of Control},
+ year = {2011},
+ volume = {84},
+ pages = {1157-1170},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2012.12.31}
+}
+
+@ARTICLE{Gottschalk1996,
+ author = {S. Gottschalk and M.~C. Lin and D. Manocha},
+ title = {{OBBT}ree: {A} Hierarchical Structure for Rapid Interference Detection},
+ journal = {Computer Graphics},
+ year = {1996},
+ volume = {30},
+ pages = {171--180},
+ abstract = {We present a data structure and an algorithm for efficient and exact
+ interference detection amongst complex models undergoing rigid motion.
+ The algorithm is applicable to all general polygonal and curved models.
+ It pre-computes a hierarchical representation of models using tight-fitting
+ oriented bounding box trees. At runtime, the algorithm traverses
+ the tree and tests for overlaps between oriented bounding boxes based
+ on a new separating axis theorem, which takes less than 200 operations
+ in...},
+ citeulike-article-id = {567553},
+ file = {Gottschalk1996.pdf:literature/Gottschalk1996.pdf:PDF},
+ owner = {althoff},
+ posted-at = {2007-07-05 11:12:40},
+ priority = {0},
+ timestamp = {2009.11.05}
+}
+
+@CONFERENCE{Gaubolt2006,
+ author = {E. Goubault and S. Putot},
+ title = {Static Analysis of Numerical Algorithms},
+ booktitle = {Proc. of the 13th International Static Analysis Symposium},
+ year = {2006},
+ pages = {18-34},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@ARTICLE{Gouy2014,
+ author = {M. Gouy and K. Wiedemann and A. Stevens and G. Brunett and N. Reed},
+ title = {Driving Next to Automated Vehicle Platoons: How do Short Time Headways
+ Influence Non-Platoon Drivers’ Longitudinal Control?},
+ journal = {Transportation Research Part F},
+ year = {2014},
+ volume = {27},
+ pages = {264-273},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{Gover2010,
+ author = {E. Gover and N. Krikorian},
+ title = {Determinants and the Volumes of Parallelotopes and Zonotopes},
+ journal = {Linear Algebra and its Applications},
+ year = {2010},
+ volume = {433},
+ pages = {28-40},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.02.24}
+}
+
+@BOOK{Gruenbaum2003,
+ title = {Convex Polytopes},
+ publisher = {Springer},
+ year = {2003},
+ editor = {S. Axler and F.~W. Gehring and K.~A. Ribet},
+ author = {B. Gr\"unbaum},
+ owner = {althoff},
+ timestamp = {2009.05.14}
+}
+
+@ARTICLE{Grabowski2006,
+ author = {D. Grabowski and D. Platte and L. Hedrich and E. Barke},
+ title = {Time Constrained Verification of Analog Circuits using Model-Checking
+ Algorithms},
+ journal = {Electronic Notes in Theoretical Computer Science},
+ year = {2006},
+ volume = {153},
+ pages = {37-52},
+ number = {3},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ ee = {http://dx.doi.org/10.1016/j.entcs.2006.01.026},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@ARTICLE{Greene2011,
+ author = {D. Greene and J. Liu and J. Reich and Y. Hirokawa and A. Shinagawa
+ and H. Ito and T. Mikami},
+ title = {An Efficient Computational Architecture for a Collision Early-Warning
+ System for Vehicles, Pedestrians, and Bicyclists},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2011},
+ volume = {12},
+ pages = {942-953},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2011.04.19}
+}
+
+@INPROCEEDINGS{Greene2008,
+ author = {D.~H. Greene and J.~J. Liu and J.~E. Reich and Y. Hirokawa and T.
+ Mikami and H. Ito and A. Shinagawa},
+ title = {A Computationally-Efficient Collision Early Warning System for Vehicles,
+ Pedestrian and Bicyclists},
+ booktitle = {Proc. of the 15th World Congress on Intelligent Transportation Systems},
+ year = {2008},
+ owner = {althoff},
+ timestamp = {2009.10.02}
+}
+
+@ARTICLE{Greiner1998,
+ author = {G. Greiner and K. Hormann},
+ title = {Efficient Clipping of Arbitrary Polygons},
+ journal = {ACM Transactions on Graphics},
+ year = {1998},
+ volume = {17},
+ pages = {71-83},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.03.17}
+}
+
+@ARTICLE{Gritzmann1993,
+ author = {P. Gritzmann and B. Sturmfels},
+ title = {Minkowski addition of polytopes: computational complexity and applications
+ to {G}r{\"o}bner bases},
+ journal = {SIAM Journal on Discrete Mathematics},
+ year = {1993},
+ volume = {6},
+ pages = {246-269},
+ owner = {althoff},
+ timestamp = {2008.09.17}
+}
+
+@INPROCEEDINGS{Grosman2006,
+ author = {B. Grosman and D.~R. Lewin},
+ title = {Lyapunov-based Stability Analysis Automated by Genetic Programming},
+ booktitle = {Proc. of the IEEE Conference on Computer Aided Control Systems Design},
+ year = {2006},
+ pages = {766-771},
+ journal = {Proceedings of the 2006 IEEE Conference on Computer Aided Control
+ Systems Design},
+ owner = {matthias},
+ timestamp = {2012.07.16}
+}
+
+@INPROCEEDINGS{Grosu2011,
+ author = {R. Grosu and G. Batt and F. Fenton and J. Glimm and C. {Le Guernic}
+ and S.~A. Smolka and E. Bartocci},
+ title = {From Cardiac Cells to Genetic Regulatory Networks},
+ booktitle = {Proc. of the 23rd Int. Conference on Computer Aided Verification},
+ year = {2011},
+ series = {LNCS 6806.},
+ pages = {396-411},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2013.02.24}
+}
+
+@ARTICLE{Grumberg1994,
+ author = {O. Grumberg and D.~E. Long},
+ title = {Model Checking and Modular Verification},
+ journal = {ACM Transactions on Programming Languages and Systems},
+ year = {1994},
+ volume = {16},
+ pages = {843-871},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@INPROCEEDINGS{Guibas2005,
+ author = {Guibas, L.~J. AND Nguyen, A. AND Zhang, L.},
+ title = {Zonotopes as bounding volumes},
+ booktitle = {Proc. of the Symposium on Discrete Algorithms},
+ year = {2005},
+ pages = {803--812},
+ file = {#F#}
+}
+
+@ARTICLE{Guldner1999,
+ author = {J. Guldner AND W. Sienel AND H.-S. Tan AND J. Ackermann AND S. Patwardhan
+ AND T. B{\"u}nte},
+ title = {Robust Automatic Steering Control for Look-Down Reference Systems
+ with Front and Rear Sensors},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {1999},
+ volume = {7},
+ pages = {2-11},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Guttromson2002,
+ author = {R.~T. Guttromson},
+ title = {Modeling Distributed Energy Resource Dynamics on the Transmission
+ System},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2002},
+ volume = {17},
+ pages = {1148-1153},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Haas2002,
+ author = {W. Haas and S. Gossens and U. Heinkel},
+ title = {Integration of Formal Specification into the Standard {ASIC} Design
+ Flow},
+ booktitle = {Proc. of the 7th IEEE International Symposium on High Assurance Systems
+ Engineering},
+ year = {2002},
+ pages = {189 - 194},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Hales2010,
+ author = {T.~C. Hales and J. Harrison and S. McLaughlin and T. Nipkow and S.
+ Obua and R. Zumkeller},
+ title = {A Revision of the Proof of the Kepler Conjecture},
+ journal = {Discrete and Computational Geometry},
+ year = {2010},
+ volume = {44},
+ pages = {1-34},
+ owner = {matthias},
+ timestamp = {2015.12.14}
+}
+
+@ARTICLE{Hamadeh2008,
+ author = {A. Hamadeh and J. Goncalves},
+ title = {Reachability Analysis of Continuous-Time Piecewise Affine Systems},
+ journal = {Automatica},
+ year = {2008},
+ volume = {44},
+ pages = {189-3194},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2011.09.30}
+}
+
+@ARTICLE{Hamfelt1996,
+ author = {A. Hamfelt},
+ title = {Formalizing Multiple Interpretationof Legal Knowledge},
+ journal = {Artificial Intelligence and Law},
+ year = {1996},
+ volume = {3},
+ pages = {221-265},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@BOOK{Hammer1995,
+ title = {{C++} Toolbox for Verified Computing {I}},
+ publisher = {Springer},
+ year = {1995},
+ author = {R. Hammer and M. Hocks and U. Kulisch and D. Ratz},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@PHDTHESIS{Han2005,
+ author = {Z. Han},
+ title = {Reachability Analysis of Continuous Dynamic Systems Using Dimension
+ Reduction and Decomposition},
+ school = {Carnegie Mellon University, Electrical and Computer Engineering Department},
+ year = {2005},
+ owner = {matthias},
+ timestamp = {2010.10.10}
+}
+
+@INPROCEEDINGS{Han2006,
+ author = {Z. Han and B.~H. Krogh},
+ title = {Reachability Analysis of Nonlinear Systems Using Trajectory Piecewise
+ Linearized Models},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2006},
+ pages = {1505-1510},
+ owner = {althoff},
+ timestamp = {2008.02.04}
+}
+
+@INPROCEEDINGS{Han2006b,
+ author = {Z. Han and B.~H. Krogh},
+ title = {Reachability Analysis of Large-Scale Affine Systems Using Low-Dimensional
+ Polytopes},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ series = {LNCS 3927},
+ pages = {287-301},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2016.11.29}
+}
+
+@INPROCEEDINGS{Han2013,
+ author = {Z. Han and P.~J. Mosterman},
+ title = {Towards Sensitivity Analysis of Hybrid Systems Using {Simulink}},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2013},
+ pages = {95-100},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@BOOK{Hansen2003,
+ title = {Global Optimization Using Interval Analysis},
+ publisher = {CRC Press},
+ year = {2003},
+ author = {Hansen, E. AND Walster, W. AND Walster, G.~W. },
+ file = {#F#},
+ isbn = {0824740599}
+}
+
+@INPROCEEDINGS{Hardy2011,
+ author = {J. Hardy and M. Campbell},
+ title = {Clustering Obstacle Predictions to Improve Contingency Planning for
+ Autonomous Road Vehicles in Congested Environments},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2011},
+ pages = {1605-1611},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@INPROCEEDINGS{Hardy2010,
+ author = {J. Hardy and M. Campbell},
+ title = {Contingency Planning over Probabilistic Hybrid Obstacle Predictions
+ for Autonomous Road Vehicles},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2010},
+ pages = {2237-2242},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@ARTICLE{Harel1987,
+ author = {D. Harel},
+ title = {Statecharts: A Visual Formalism for Complex Systems},
+ journal = {Science of Computer Programming},
+ year = {1987},
+ volume = {8},
+ pages = {231-274},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.08.13}
+}
+
+@INCOLLECTION{Hartong2004,
+ author = {Hartong, W. and Klausen, R. and Hedrich, L.},
+ title = {Formal Verification for Nonlinear Analog Systems: Approaches to Model
+ and Equivalence Checking},
+ booktitle = {Advanced Formal Verification},
+ publisher = {Springer},
+ year = {2004},
+ editor = {Drechsler, R.},
+ pages = {205-245},
+ affiliation = {Cadence Design Systems Feldkirchen Germany},
+ isbn = {978-1-4020-2530-3},
+ keyword = {Computer Science},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@ARTICLE{He2015,
+ author = {Z. He and L. Zheng and W. Guan},
+ title = {A Simple Nonparametric Car-Following Model Driven by Field Data},
+ journal = {Transportation Research Part B},
+ year = {2015},
+ volume = {80},
+ pages = {185 - 201},
+ issn = {0191-2615},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@INPROCEEDINGS{Heitmeyer2015,
+ author = {C.~L. Heitmeyer and E.~I. Leonard},
+ title = {Obtaining Trust in Autonomous Systems: Tools for Formal Model Synthesis
+ and Validation},
+ booktitle = {Proc. of the 3rd FME Workshop on Formal Methods in Software Engineering},
+ year = {2015},
+ pages = {54-60},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Heissing2003,
+ author = {B. Hei{\ss}ing},
+ title = {Fahrsicherheit und Elektronik},
+ booktitle = {Proc. of fahrwerk.tech},
+ year = {2003},
+ owner = {althoff},
+ timestamp = {2008.03.10}
+}
+
+@BOOK{Hendriks2008,
+ title = {Linear Systems Control},
+ publisher = {Springer},
+ year = {2008},
+ author = {E. Hendricks and O. Jannerup and P.~H. S{\o}rensen},
+ owner = {matthias},
+ timestamp = {2013.03.15}
+}
+
+@INBOOK{Henk2004,
+ chapter = {Basic Properties of Convex Polytopes},
+ pages = {355-382},
+ title = {Handbook of Discrete and Computational Geometry},
+ publisher = {Chapman \& Hall/CRC},
+ year = {2004},
+ editor = {J.~E. Goodman and J. O'Rourke},
+ author = {M. Henk and J. Richter-Gebert and G.~M. Ziegler},
+ owner = {matthias},
+ timestamp = {2015.08.19}
+}
+
+@INBOOK{Henzinger2000,
+ chapter = {The theory of hybrid automata},
+ pages = {265-292},
+ title = {Verification of Digital and Hybrid Systems},
+ publisher = {Springer},
+ year = {2000},
+ editor = {K. Inan and R.~P. Kurshan},
+ author = {T. Henzinger},
+ volume = {170},
+ series = {NATO ASI Series F: Computer and Systems Sciences},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Henzinger1995,
+ author = {T.~A. Henzinger and P.-H. Ho},
+ title = {{HyTech}: The {Cornell Hybrid Technology Tool}},
+ booktitle = {Hybrid Systems II},
+ year = {1995},
+ series = {LNCS 999},
+ pages = {265-294},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2011.10.17}
+}
+
+@ARTICLE{Henzinger1998b,
+ author = {T.~A. Henzinger and P.-H. Ho and H. Wong-Toi},
+ title = {Algorithmic Analysis of Nonlinear Hybrid Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1998},
+ volume = {43},
+ pages = {540-554},
+ number = {4},
+ owner = {althoff},
+ timestamp = {2008.02.04}
+}
+
+@ARTICLE{Henzinger1997,
+ author = {T.~A. Henzinger and P.-H. Ho and H. Wong-Toi},
+ title = {{HyTech}: A Model Checker for Hybrid Systems},
+ journal = {Software Tools for Technology Transfer},
+ year = {1997},
+ volume = {1},
+ pages = {110-122},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Henzinger1995b,
+ author = {T.~A. Henzinger and P.-H. Ho and H. Wong-Toi},
+ title = {{HYTECH}: The Next Generation},
+ booktitle = {Proc. of the 16th IEEE Real-Time Systems Symposium},
+ year = {1995},
+ pages = {56 - 65},
+ owner = {matthias},
+ timestamp = {2016.09.27}
+}
+
+@INPROCEEDINGS{Henzinger2000b,
+ author = {T.~A. Henzinger and B. Horowitz and R. Majumdar and H. Wong-Toi},
+ title = {Beyond {HyTech}: Hybrid Systems Analysis Using Interval Numerical
+ Methods},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2000},
+ series = {LNCS 1790},
+ pages = {130-144},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.01.08}
+}
+
+@INPROCEEDINGS{Henzinger2000c,
+ author = {T.~A. Henzinger and R. Majumdar},
+ title = {Symbolic Model Checking for Rectangular Hybrid Systems},
+ booktitle = {Tools and Algorithms for the Construction and Analysis of Systems},
+ year = {2000},
+ series = {LNCS 1785},
+ pages = {142-156},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@INPROCEEDINGS{Henzinger2001,
+ author = {T.~A. Henzinger and M. Minea and V. Prabhu},
+ title = {Assume-Guarantee Reasoning for Hierarchical Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2001},
+ series = {LNCS 2034},
+ pages = {275-290},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@ARTICLE{Henzinger1998,
+ author = {Henzinger, T. AND Kopke, P.~W. AND Puri, A. AND Varaiya, P.},
+ title = {What's decidable about hybrid automata?},
+ journal = {Journal of Computer and System Sciences},
+ year = {1998},
+ volume = {57},
+ pages = {94--124},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Herceg2013,
+ author = {M. Herceg and M. Kvasnica and C.N. Jones and M. Morari},
+ title = {{Multi-Parametric Toolbox 3.0}},
+ booktitle = {Proc. of the European Control Conference},
+ year = {2013},
+ pages = {502--510},
+ address = {Z\"urich, Switzerland},
+ month = {July 17--19},
+ note = {\url{http://control.ee.ethz.ch/~mpt}}
+}
+
+@INPROCEEDINGS{Hermann2014,
+ author = {A. Hermann and F. Drews and J. Bauer and S. Klemm and A. Roennau
+ and R. Dillmann},
+ title = {Unified {GPU} Voxel Collision Detection for Mobile Manipulation Planning},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2014},
+ pages = {4154-4160},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Hermes2009,
+ author = {C. Hermes and C. W{\"o}hler and K. Schenk and F. Kummert},
+ title = {Long-Term Vehicle Motion Prediction},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {652-657},
+ owner = {althoff},
+ timestamp = {2010.02.06}
+}
+
+@ARTICLE{Hernandez2004,
+ author = {J.~I. Hernandez and C.~Y. Kuo},
+ title = {Lateral Control of Higher Order Nonlinear Vehicle Model in Emergency
+ Maneuvers Using Absolute Positioning GPS and Magnetic Markers},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2004},
+ volume = {53},
+ pages = {372-384},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Hershberger1999,
+ author = {J. Hershberger and S. Suri},
+ title = {An Optimal Algorithm for {Euclidean} Shortest Paths in the Plane},
+ journal = {SIAM Journal on Computing},
+ year = {1999},
+ volume = {28},
+ pages = {2215-2256},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2016.01.05}
+}
+
+@BOOK{Hespanha2009,
+ title = {Linear Systems Theory},
+ publisher = {Princeton University Press},
+ year = {2009},
+ author = {J.~P. Hespanha},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@PHDTHESIS{Hesse2013,
+ author = {T. Hesse},
+ title = {Predictive Forcefield Trajectory Planning for Automated Vehicles},
+ school = {Technischen Universit{\"a}t Ilmenau},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2016.05.06}
+}
+
+@INPROCEEDINGS{Hesse2007,
+ author = {T. Hesse and T. Sattel},
+ title = {An Approach to Integrate Vehicle Dynamics in Motion Planning for
+ Advanced Driver Assistance Systems},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {1240-1245},
+ owner = {althoff},
+ timestamp = {2008.01.02}
+}
+
+@INPROCEEDINGS{Hetel2007,
+ author = {L. Hetel and J. Daafouz and C. lung},
+ title = {LMI Control Design for a Class of Exponential Uncertain Systems with
+ Application to Network Controlled Switched Systems},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2007},
+ pages = {1401 - 1406},
+ owner = {matthias},
+ timestamp = {2010.12.08}
+}
+
+@MASTERSTHESIS{Hess2009,
+ author = {Daniel He{\ss}},
+ title = {Evaluation of Motion Planning Strategies for Autonomous Cars},
+ school = {Universit{\"a}t Paderborn},
+ year = {2009},
+ owner = {matthias},
+ timestamp = {2013.03.12}
+}
+
+@INPROCEEDINGS{Hess2011,
+ author = {D. He{\ss} and T. Sattel},
+ title = {Double-lane change optimization for a stochastic vehicle model subject
+ to collision probability constraints},
+ booktitle = {Proc. of the 14th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2011},
+ pages = {206-211},
+ owner = {matthias},
+ timestamp = {2014.01.17}
+}
+
+@ARTICLE{Hillenbrand2006,
+ author = {J. Hillenbrand and A.~ M. Spieker and K. Kroschel},
+ title = {A Multilevel Collision Mitigation Approach - Its Situation Assessment,
+ Decision Making, and Performance Tradeoffs},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2006},
+ volume = {7},
+ pages = {528-540},
+ owner = {althoff},
+ timestamp = {2008.01.02}
+}
+
+@INBOOK{Hilscher2013,
+ chapter = {Proving Safety of Traffic Manoeuvres on Country Roads},
+ pages = {196-212},
+ title = {Theories of Programming and Formal Methods},
+ publisher = {Springer},
+ year = {2013},
+ editor = {Z. Liu and J. Woodcock and H. Zhu},
+ author = {M. Hilscher and S. Linker and E.-R. Olderog},
+ owner = {matthias},
+ timestamp = {2014.09.25}
+}
+
+@INBOOK{Hiltunen2012,
+ chapter = {Grammar And Structure Of Legal Texts},
+ pages = {39-51},
+ title = {The Oxford Handbook of Language and Law},
+ publisher = {Oxford University Press},
+ year = {2012},
+ editor = {P.~M. Tiersma and L.~M. Solan},
+ author = {R. Hiltunen},
+ owner = {matthias},
+ timestamp = {2015.08.17}
+}
+
+@INPROCEEDINGS{Hiskens1996,
+ author = {I.~A. Hiskens and R.~J. Davy},
+ title = {Lyapunov Function Analysis of Power Systems with Dynamic Loads},
+ booktitle = {Proc. of the 35th IEEE Conference on Decision and Control},
+ year = {1996},
+ pages = {3870-3875},
+ owner = {matthias},
+ timestamp = {2013.03.21}
+}
+
+@ARTICLE{Hiskens1989,
+ author = {I.~A. Hiskens and D.~J. Hill},
+ title = {Energy Functions, Transient Stability and Voltage Behavior in Power
+ Systems with Nonlinear Loads},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1989},
+ volume = {4},
+ pages = {1525-1533},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@ARTICLE{Hladik2010,
+ author = {M. Hlad{\`{\i}}k and D. Daney and E.~P. Tsigaridas},
+ title = {Bounds on Real Eigenvalues and Singular Values of Interval Matrices},
+ journal = {SIAM Journal on Matrix Analysis Applications},
+ year = {2010},
+ volume = {31},
+ pages = {2116-2129},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.08}
+}
+
+@PHDTHESIS{Ho1995,
+ author = {P.H. Ho},
+ title = {Automatic Analysis of Hybrid Systems},
+ school = {Cornell University},
+ year = {1995},
+ owner = {althoff},
+ timestamp = {2010.03.23}
+}
+
+@INBOOK{Hoefkens2001b,
+ chapter = {Efficient High-Order Methods for {ODEs} and {DAEs}},
+ pages = {343-348},
+ title = {Automatic Differentiation: From Simulation to Optimization},
+ publisher = {Springer},
+ year = {2001},
+ editor = {G. Corliss and C. Faure and A. Griewank and L. Hascoet and U. Naumann},
+ author = {J. Hoefkens and M. Berz and K. Makino},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@INBOOK{Hoefkens2001,
+ chapter = {Verified High-Order Integration of {DAEs} and Higher-Order {ODEs}},
+ pages = {281-292},
+ title = {Scientific Computing, Validated Numerics, Interval Methods},
+ publisher = {Springer},
+ year = {2001},
+ editor = {W. Kr{\"a}mer and J.~W. {von Gudenberg}},
+ author = {J. Hoefkens and M. Berz and K. Makino},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@INPROCEEDINGS{Holzmann2006,
+ author = {F. Holzmann and M. Bellino and R. Siegwart H. Bubb},
+ title = {Predictive Estimation of the Road-Tire Friction Coefficient},
+ booktitle = {Proc. of the IEEE International Conference on Control Applications},
+ year = {2006},
+ pages = {885-890},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Hope2011,
+ author = {E.~M. Hope and X. Jiang and A.~D. Dom{\'i}nguez-Garc{\'i}a},
+ title = {A Reachability-Based Method for Large-Signal Behavior Verification
+ of {DC-DC} Converters},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {2011},
+ volume = {58},
+ pages = {2944 - 2955},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2013.07.04}
+}
+
+@ARTICLE{Horowitz2000,
+ author = {R. Horowitz and P. Varaiya},
+ title = {Control Design of an Automated Highway System},
+ journal = {Proceedings of the IEEE},
+ year = {2000},
+ volume = {88},
+ pages = {913-925},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@BOOK{Hsu1987,
+ title = {Cell-to-Cell Mapping},
+ publisher = {Springer-Verlag},
+ year = {1987},
+ author = {Hsu, C.~S.},
+ series = {Applied Mathematical Sciences},
+ file = {#F#},
+ isbn = {0387965203}
+}
+
+@INPROCEEDINGS{Hu1999,
+ author = {Hu, J. AND Lygeros, J. AND Prandini, M. AND Shankar, S.},
+ title = {A probabilistic framework for highway safety analysis},
+ booktitle = {Proc. of the 38th Conference on Decision and Control},
+ year = {1999},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Hu2000,
+ author = {J. Hu and J. Lygeros and S. Sastry},
+ title = {Towards a Theory of Stochastic Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2000},
+ series = {LNCS 1790},
+ pages = {160-173},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@ARTICLE{Hu2005,
+ author = {J. Hu and M. Prandini and S. Sastry},
+ title = {Aircraft conflict detection in presence of a spatially correlated
+ wind field},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2005},
+ volume = {6},
+ pages = {326-340},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@ARTICLE{Hu2006,
+ author = {W. Hu and X. Xiao and Z. Fu and D. Xie and T. Tan and S. Maybank},
+ title = {A System for Learning Statistical Motion Patterns},
+ journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
+ year = {2006},
+ volume = {28},
+ pages = {1450-1464},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@INPROCEEDINGS{Huang2004,
+ author = {H.-P. Huang and S.-Y. Chung},
+ title = {Dynamic Visibility Graph for Path Planning},
+ booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2004},
+ pages = {2813-2818},
+ owner = {matthias},
+ timestamp = {2016.01.05}
+}
+
+@INPROCEEDINGS{Hummel2008,
+ author = {B. Hummel and W. Thiemann and I. Lulcheva},
+ title = {Scene Understanding of Urban Road Intersections with Description
+ Logic},
+ booktitle = {Logic and Probability for Scene Interpretation},
+ year = {2008},
+ editor = {A.~G. Cohn and D.~C. Hogg and R. M{\"o}ller and B. Neumann},
+ number = {08091},
+ series = {Dagstuhl Seminar Proceedings},
+ owner = {matthias},
+ timestamp = {2010.11.01}
+}
+
+@INBOOK{Hyden1996,
+ chapter = {Traffic Conflicts Technique: State of the Art},
+ pages = {3-14},
+ title = {Traffic Safety Work with Video Processing},
+ publisher = {University Kaiserslautern, Transportation Department},
+ year = {1996},
+ editor = {H.~H. Topp},
+ author = {C. Hyd{\'e}n},
+ number = {37},
+ series = {Green Series},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@PHDTHESIS{Hyden1987,
+ author = {C. Hyd{\'e}n},
+ title = {The Development of a Method for Traffic Safety Evaluation: The Swedish
+ Traffic Conflicts Technique},
+ school = {Lund Institute of Technology},
+ year = {1987},
+ booktitle = {Bulletin 70},
+ owner = {matthias},
+ publisher = {Institute f{\"o}r Trafikteknik, LTH, Lund},
+ timestamp = {2015.07.20}
+}
+
+@BOOK{Ilic2000,
+ title = {Dynamics and Control of Large Electric Power Systems},
+ publisher = {John Wiley \& Sons},
+ year = {2000},
+ author = {M. Ili{\'c} and J. Zaborszky},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Immler2015,
+ author = {F. Immler},
+ title = {Tool Presentation: {Isabelle/HOL} for Reachability Analysis of Continuous
+ Systems},
+ booktitle = {Proc. of the 2nd Workshop on Applied Verification for Continuous
+ and Hybrid Systems.},
+ year = {2015},
+ pages = {180-187},
+ owner = {matthias},
+ timestamp = {2016.02.13}
+}
+
+@INPROCEEDINGS{Immler2015a,
+ author = {F. Immler},
+ title = {A Verified Algorithm for Geometric Zonotope/Hyperplane Intersection},
+ booktitle = {Proc. of the Conference on Certified Programs and Proofs},
+ year = {2015},
+ pages = {129-136},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@INPROCEEDINGS{Immler2014,
+ author = {F. Immler},
+ title = {Formally Verified Computation of Enclosures of Solutions of Ordinary
+ Differential Equations},
+ booktitle = {Proc. of the 6th NASA Formal Methods Symposium},
+ year = {2014},
+ pages = {113-127},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@INPROCEEDINGS{Indiveri2007,
+ author = {G. Indiveri and A. N{\"u}chter and K. Lingemann},
+ title = {High Speed Differential Drive Mobile Robot Path Following Control
+ with Bounded Wheel Speed Commands},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2007},
+ pages = {2202-2207},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@INPROCEEDINGS{Inuiguchi2002,
+ author = {M. Inuiguchi and H. Fujita and T. Tanino},
+ title = {Robust Interval Regression Analysis based on {Minkowski} Difference},
+ booktitle = {Proceedings of the 41st SICE Annual Conference},
+ year = {2002},
+ pages = {2346 - 2351},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@ARTICLE{Ioannou2005,
+ author = {P.~A. Ioannou and M. Stefanovic},
+ title = {Evaluation of {ACC} Vehicles in Mixed Traffic: Lane Change Effects
+ and Sensitivity Analysis},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2005},
+ volume = {6},
+ pages = {79-89},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.01.16}
+}
+
+@INPROCEEDINGS{Ippolito2005,
+ author = {C. Ippolito and G. Pisanich},
+ title = {Cognitive Emotion Layer Architecture for Intelligent UAV Planning,
+ Behavior and Control},
+ booktitle = {In Proc. of Aerospace Conference},
+ year = {2005},
+ pages = {1-16},
+ owner = {althoff},
+ timestamp = {2008.12.02}
+}
+
+@BOOK{Isermann2010,
+ title = {Identification of Dynamic Systems: An Introduction with Applications},
+ publisher = {Springer},
+ year = {2010},
+ author = {R. Isermann and M. Münchhof},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Jalili-Marandi2009,
+ author = {V. {Jalili-Marandi} and V. Dinavahi},
+ title = {Instantaneous Relaxation-Based Real-Time Transient Stability Simulation},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2009},
+ volume = {24},
+ pages = {1327-1336},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@ARTICLE{Jalili-Marandi2012,
+ author = {V. {Jalili-Marandi} and Z. Zhou and V. Dinavahi},
+ title = {Large-Scale Transient Stability Simulation of Electrical Power Systems
+ on Parallel {GPUs}},
+ journal = {IEEE Transactions on Parallel and Distributed Systems},
+ year = {2012},
+ volume = {23},
+ pages = {1255-1266},
+ number = {7},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@BOOK{Jaulin2006,
+ title = {Applied Interval Analysis},
+ publisher = {Springer},
+ year = {2006},
+ author = {Jaulin, L. AND Kieffer, M. AND Didrit, O.},
+ file = {#F#},
+ isbn = {1852332190}
+}
+
+@INPROCEEDINGS{Jeng1994,
+ author = {M.~D. Jeng and S.~C. Chen},
+ title = {Computer Aided Performance Analysis of Petri Net Synthesis Methods
+ for Automated Manufacturing Systems},
+ booktitle = {Proc. of the 4th International Conference on Computer Integrated
+ Manufacturing and Automation Technology},
+ year = {1994},
+ pages = {81-86},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@INPROCEEDINGS{Jensen2011,
+ author = {J.~C. Jensen and D.~H. Chang and E.~A. Lee},
+ title = {A Model-Based Design Methodology for Cyber-Physical Systems},
+ booktitle = {Proc. of the 7th International Wireless Communications and Mobile
+ Computing Conference},
+ year = {2011},
+ pages = {1666-1671},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Jeon2011,
+ author = {J.~H. Jeon and S. Karaman and E. Frazzoli},
+ title = {Anytime Computation of Time-Optimal Off-Road Vehicle Maneuvers using
+ the RRT$^*$},
+ booktitle = {Proc. of the 50th IEEE Conference on Decision and Control and European
+ Control Conference},
+ year = {2011},
+ pages = {3276-3282},
+ owner = {matthias},
+ timestamp = {2017.01.16}
+}
+
+@BOOK{Jermann2005,
+ title = {Global Optimization and Constraint Satisfaction},
+ publisher = {Springer-Verlag},
+ year = {2005},
+ author = {Jermann, C.},
+ series = {International Workshop COCOS 2003},
+ file = {#F#},
+ isbn = {03029743}
+}
+
+@ARTICLE{Jetto2009,
+ author = {L. Jetto and V. Orsini},
+ title = {LMI Conditions for the Stability of Linear Uncertain Polynomially
+ Time-Varying Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2009},
+ volume = {54},
+ pages = {1705-1709},
+ owner = {matthias},
+ timestamp = {2010.06.07}
+}
+
+@INBOOK{Jimenez1998,
+ chapter = {Collision Detection Algorithms for Motion Planning},
+ pages = {305-343},
+ title = {Robot Motion Planning and Control},
+ publisher = {Springer},
+ year = {1998},
+ editor = {J.-P. Laumond},
+ author = {P. Jim{\'e}nez and F. Thomas and C. Torras},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@ARTICLE{Jin2010,
+ author = {L. Jin and R. Kumar and N. Elia},
+ title = {Reachability Analysis Based Transient Stability Design in Power Systems},
+ journal = {Electrical Power and Energy Systems},
+ year = {2010},
+ volume = {32},
+ pages = {782-787},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@INPROCEEDINGS{Jin2005,
+ author = {L. Jin and H. Liu and R. Kumar and J.~D. McCalley and N. Elia and
+ V. Ajjarapu},
+ title = {Power System Transient Stability Design Using Reachability Based
+ Stability-Region Computation},
+ booktitle = {Proc. of the 37th Annual North American Power Symposium},
+ year = {2005},
+ pages = {338-343},
+ owner = {matthias},
+ timestamp = {2012.02.21}
+}
+
+@ARTICLE{Jo2012,
+ author = {K. Jo and K. Chu and M. Sunwoo},
+ title = {Interacting Multiple Model Filter-Based Sensor Fusion of GPS With
+ In-Vehicle Sensors for Real-Time Vehicle Positioning},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2012},
+ volume = {13},
+ pages = {329-343},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Johansson1971,
+ author = {G. Johansson and K. Rumar},
+ title = {Drivers’ Brake Reaction Times},
+ journal = {Human Factors},
+ year = {1971},
+ volume = {13},
+ pages = {23-27},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.01.15}
+}
+
+@INPROCEEDINGS{Johnson2013,
+ author = {K. Johnson and R. Calinescu and S. Kikuchi},
+ title = {An Incremental Verification Framework for Component-Based Software
+ Systems},
+ booktitle = {Proc. of the 16th International ACM Sigsoft Symposium on Component-Based
+ Software Engineering},
+ year = {2013},
+ pages = {33-42},
+ owner = {matthias},
+ timestamp = {2016.09.29}
+}
+
+@ARTICLE{Johnson1996,
+ author = {N. Johnson and D. Hogg},
+ title = {Learning the Distribution of Object Trajectories for Event Recognition},
+ journal = {Image and Vision Computing},
+ year = {1996},
+ volume = {14},
+ pages = {583--592},
+ owner = {althoff},
+ timestamp = {2009.03.24}
+}
+
+@ARTICLE{Jula2000,
+ author = {H. Jula and E.~B. Kosmatopoulos and P.~A. Ioannou},
+ title = {Collision Avoidance Analysis for Lane Changing and Merging},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2000},
+ volume = {49},
+ pages = {2295-2308},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Julius2007,
+ author = {A.~A. Julius and G.~E. Fainekos and M. Anand and I. Lee and G.~J.
+ Pappas},
+ title = {Robust test generation and coverage for hybrid systems.},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2007},
+ series = {LNCS 4416},
+ pages = {329-342},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2008.01.31}
+}
+
+@INCOLLECTION{Juergensohn2007,
+ author = {T. J{\"u}rgensohn},
+ title = {Control Theory Models of the Driver},
+ booktitle = {Modelling Driver Behaviour in Automotive Environments},
+ publisher = {Springer},
+ year = {2007},
+ editor = {P.~C. Cacciabue},
+ pages = {277-292},
+ owner = {matthias},
+ timestamp = {2010.11.27}
+}
+
+@INBOOK{Kuehn1998b,
+ chapter = {Zonotope Dynamics in Numerical Quality Control},
+ pages = {125-134},
+ title = {Mathematical Visualization},
+ publisher = {Springer},
+ year = {1998},
+ editor = {H.-C. Hege and K. Polthier},
+ author = {W. K\"uhn},
+ journal = {Mathematical Visualization},
+ owner = {althoff},
+ timestamp = {2009.05.13}
+}
+
+@ARTICLE{Kaempchen2009,
+ author = {N. Kaempchen and B. Schiele and K. Dietmayer},
+ title = {Situation Assessment of an Autonomous Emergency Brake for Arbitrary
+ Vehicle-to-Vehicle Collision Scenarios},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2009},
+ volume = {10},
+ pages = {678-687},
+ owner = {althoff},
+ timestamp = {2010.03.22}
+}
+
+@INBOOK{Kaibel2003,
+ chapter = {Some Algorithmic Problems in Polytope Theory},
+ pages = {23-47},
+ title = {Algebra, Geometry and Software Systems},
+ publisher = {Springer},
+ year = {2003},
+ editor = {M. Joswig and N.i Takayama},
+ author = {V. Kaibel and M.~E. Pfetsch},
+ owner = {althoff},
+ timestamp = {2009.02.27}
+}
+
+@TECHREPORT{Kalra2016,
+ author = {N. Kalra and S.~M. Paddock},
+ title = {How Many Miles of Driving Would It Take to Demonstrate Autonomous
+ Vehicle Reliability?},
+ institution = {RAND Corporation},
+ year = {2016},
+ address = {Santa Monica, CA},
+ owner = {matthias},
+ timestamp = {2016.10.04},
+ url = {http://www.rand.org/pubs/research_reports/RR1478.html}
+}
+
+@ARTICLE{Kammel2008,
+ author = {S. Kammel and J. Ziegler and B. Pitzer and M. Werling and T. Gindele
+ and D. Jagzent and J. Schr{\"o}der and M. Thuy and M. Goebl and F.
+ von Hundelshausen and O. Pink and C. Frese and C. Stiller},
+ title = {Team {AnnieWAY's} Autonomous System for the {DARPA Urban Challenge}
+ 2007},
+ journal = {Journal of Field Robotics},
+ year = {2008},
+ volume = {25},
+ pages = {615 - 639},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@BOOK{Kampen1981,
+ title = {Stochastic Processes in Physics and Chemistry},
+ publisher = {North-Holland Publishing Company},
+ year = {1981},
+ author = {N.~G. van Kampen},
+ owner = {althoff},
+ timestamp = {2008.06.24}
+}
+
+@ARTICLE{Kanaris2001,
+ author = {A. Kanaris and E.~B. Kosmatopoulos and P.~A. Ioannou},
+ title = {Strategies and Spacing Requirements for Lane Changing and Merging
+ in Automated Highway Systems},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2001},
+ volume = {50},
+ pages = {1568-1581},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Kapinski2008,
+ author = {J. Kapinski and A. Donz\'{e} and F. Lerda and H. Maka and S. Wagner
+ and B.~H. Krogh},
+ title = {Control Software Model Checking Using Bisimulation Functions for
+ Nonlinear Systems},
+ booktitle = {Proc. of the 47th IEEE Conference on Decision and Control},
+ year = {2008},
+ pages = {4024-4029},
+ owner = {althoff},
+ timestamp = {2009.01.09}
+}
+
+@INPROCEEDINGS{Kapinski2003,
+ author = {J. Kapinski and B.~H. Krogh and O. Maler and O. Stursberg},
+ title = {On Systematic Simulation of Open Continuous Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2003},
+ series = {LNCS 2623},
+ pages = {283-297},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2008.10.25}
+}
+
+@ARTICLE{Karaman2011,
+ author = {S. Karaman and E. Frazzoli},
+ title = {Linear Temporal Logic Vehicle Routing with Applications to Multi-UAV
+ Mission Planning},
+ journal = {Journal of Robust and Nonlinear Control},
+ year = {2011},
+ volume = {21},
+ pages = {1372-1395},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@INPROCEEDINGS{Karthik2014,
+ author = {A.~V. Karthik and S. Ray and P. Nuzzo and A. Mishchenko and R. Brayton
+ and J. Roychowdhury},
+ title = {ABCD-NL: Approximating Continuous Non-Linear Dynamical Systems using
+ Purely Boolean Models for Analog/Mixed-Signal Verification},
+ booktitle = {Proc. of 19th Asia and South Pacific Design Automation Conference},
+ year = {2014},
+ pages = {250-255},
+ owner = {matthias},
+ timestamp = {2014.06.30}
+}
+
+@INPROCEEDINGS{Karthik2013,
+ author = {A.~V. Karthik and J. Roychowdhury},
+ title = {{ABCD-L}: Approximating Continuous Linear Systems using {Boolean}
+ Models},
+ booktitle = {Proc. of the 50th ACM/EDAC/IEEE Design Automation Conference},
+ year = {2013},
+ pages = {1-8},
+ owner = {matthias},
+ timestamp = {2015.02.06}
+}
+
+@INPROCEEDINGS{Katoen2008,
+ author = {J.-P. Katoen},
+ title = {Perspectives in Probabilistic Verification},
+ booktitle = {Proc. of the 2nd IEEE International Symposium on Theoretical Aspects
+ of Software Engineering},
+ year = {2008},
+ pages = {3-10},
+ owner = {althoff},
+ timestamp = {2009.12.15}
+}
+
+@ARTICLE{Katzourakis2012,
+ author = {D. Katzourakis and J.~C.~F. {de Winter} and S. {de Groot} and R.
+ Happee},
+ title = {Driving Simulator Parameterization using Double-Lane Change Steering
+ Metrics as Recorded on Five Modern Cars},
+ journal = {Simulation Modelling Practice and Theory},
+ year = {2012},
+ volume = {26},
+ pages = {96-112},
+ owner = {matthias},
+ timestamp = {2013.11.07}
+}
+
+@PHDTHESIS{Kaynama2012a,
+ author = {S. Kaynama},
+ title = {Scalable Techniques for the Computation of Viable and Reachable Sets},
+ school = {The University of British Columbia},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2013.06.12}
+}
+
+@INPROCEEDINGS{Kaynama2012,
+ author = {S. Kaynama and J.~N. Maidens and M. Oishi and I.~M. Mitchell and
+ G.~A. Dumont},
+ title = {Computing the Viability Kernel using Maximal Reachable Sets},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2015.06.16}
+}
+
+@ARTICLE{Kearfott1996,
+ author = {R.~B. Kearfott},
+ title = {Algorithm 763: {INTERVAL\_ARITHMETIC}: A {Fortran} 90 Module for
+ an Interval Data Type},
+ journal = {ACM Transactions on Mathematical Software},
+ year = {1996},
+ volume = {22},
+ pages = {385-392},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.02.03}
+}
+
+@ARTICLE{Kearfott1994,
+ author = {R.~B. Kearfott and M. Dawande and K. Du and C. Hu},
+ title = {Algorithm 737: {INTLIB}: A Portable {Fortran} 77 Interval Standard-Function
+ Library},
+ journal = {ACM Transactions on Mathematical Software},
+ year = {1994},
+ volume = {20},
+ pages = {447-459},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.02.03}
+}
+
+@BOOK{Kerner2004,
+ title = {The Physics of Traffic},
+ publisher = {Springer},
+ year = {2004},
+ author = {B.~S. Kerner},
+ owner = {althoff},
+ timestamp = {2008.11.13}
+}
+
+@ARTICLE{Kerrigan2004,
+ author = {Kerrigan, E.~C. and Maciejowski, J.~M.},
+ title = {Feedback Min-Max Model Predictive Control using a Single Linear Program:
+ Robust Stability and the Explicit Solution},
+ journal = {International Journal of Robust and Nonlinear Control},
+ year = {2004},
+ volume = {14},
+ pages = {395-413},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.04.29}
+}
+
+@INPROCEEDINGS{Kerrigan2002,
+ author = {E.~C. Kerrigan and D.~Q. Mayne},
+ title = {Optimal Control of Constrained, Piecewise Affine Systems with Bounded
+ Disturbances},
+ booktitle = {Proc. of the 41st IEEE Conference on Decision and Control},
+ year = {2002},
+ pages = {1552 - 1557},
+ owner = {matthias},
+ timestamp = {2015.08.27}
+}
+
+@ARTICLE{Keviczky2008,
+ author = {T. Keviczky and F. Borrelli and K. Fregene and D. Godbole and Gary.~J.
+ Balas},
+ title = {Decentralized Receding Horizon Control and Coordination of Autonomous
+ Vehicle Formations},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2008},
+ volume = {16},
+ pages = {19-33},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.10.03}
+}
+
+@BOOK{Khalil2002,
+ title = {Nonlinear Systems},
+ publisher = {Prentice Hall},
+ year = {2002},
+ author = {Khalil,H.~K.},
+ file = {#F#},
+ isbn = {0130673897}
+}
+
+@ARTICLE{Kianfar2013,
+ author = {R. Kianfar and P. Falcone and J. Fredriksson},
+ title = {Safety Verification of Automated Driving Systems},
+ journal = {IEEE Intelligent Transportation Systems Magazine},
+ year = {2013},
+ volume = {5},
+ pages = {73-86},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INPROCEEDINGS{Kieffer2006,
+ author = {M. Kieffer and E. Walter and I. Simeonov},
+ title = {Guaranteed Nonlinear Parameter Estimation for Continuous-Time Dynamical
+ Models},
+ booktitle = {Proc. of the 14th IFAC Symposium on System Identification},
+ year = {2006},
+ pages = {843-848},
+ owner = {matthias},
+ timestamp = {2013.05.07}
+}
+
+@ARTICLE{Kim2014b,
+ author = {B. Kim and K. Yi},
+ title = {Probabilistic and Holistic Prediction of Vehicle States Using Sensor
+ Fusion for Application to Integrated Vehicle Safety Systems},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2014},
+ volume = {15},
+ pages = {2178-2190},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2015.11.26}
+}
+
+@ARTICLE{Kim2007,
+ author = {D. Kim and H. Peng and S. Bai and J.~M. Maguire},
+ title = {Control of Integrated Powertrain With Electronic Throttle and Automatic
+ Transmission},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2007},
+ volume = {15},
+ pages = {474-482},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INPROCEEDINGS{Kim2015,
+ author = {Jae-Hwan Kim and Dong-Suk Kum},
+ title = {Threat Prediction Algorithm based on Local Path Candidates and Surrounding
+ Vehicle Trajectory Predictions for Automated Driving Vehicles},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2015},
+ pages = {1220 - 1225},
+ owner = {matthias},
+ timestamp = {2016.03.21}
+}
+
+@ARTICLE{Kim2014,
+ author = {T. Kim and H.-Y. Jeong},
+ title = {A Novel Algorithm for Crash Detection Under General Road Scenes Using
+ Crash Probabilities and an Interactive Multiple Model Particle Filter},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2014},
+ volume = {15},
+ pages = {2480-2490},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{Klamka2013,
+ author = {J. Klamka},
+ title = {Controllability of Dynamical Systems. A Survey},
+ journal = {Bulletin of the Polish Academy of Sciences},
+ year = {2013},
+ volume = {61},
+ pages = {335-342},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Klamka2000,
+ author = {J. Klamka},
+ title = {Constrained Approximate Controllability},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2000},
+ volume = {45},
+ pages = {1745-1749},
+ number = {9},
+ owner = {matthias},
+ timestamp = {2016.07.01}
+}
+
+@ARTICLE{Klamka1997,
+ author = {J. Klamka},
+ title = {Constrained Approximate Boundary Controllability},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1997},
+ volume = {42},
+ pages = {280-284},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Kloetzer2010,
+ author = {M. Kloetzer and C. Belta},
+ title = {Automatic Deployment of Distributed Teams of Robots from Temporal
+ Logic Specifications},
+ journal = {IEEE Transactions on Robotics},
+ year = {2010},
+ volume = {26},
+ pages = {48-61},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@INPROCEEDINGS{Kloetzer2006,
+ author = {M. Kloetzer and C. Belta},
+ title = {Reachability Analysis of Multi-affine Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ series = {LNCS 3927},
+ pages = {348-362},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.11.24}
+}
+
+@ARTICLE{Klosowski1998,
+ author = {J.~T. Klosowski and M. Held and J.~S.~B. Mitchell and H. Sowizral
+ and K. Zikan},
+ title = {Efficient Collision Detection Using Bounding Volume Hierarchies of
+ {k-DOPs}},
+ journal = {IEEE Transactions on Visualization and Computer Graphics},
+ year = {1998},
+ volume = {4},
+ pages = {21-36},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Klumpp2006,
+ author = {V. ~Klumpp and D.~Brunn and U.~D.~Hanebeck},
+ title = {Approximate Nonlinear Bayesian Estimation Based on Lower and Upper
+ Densities},
+ booktitle = {Proc. of the 9th International Conference on Information Fusion},
+ year = {2006},
+ owner = {althoff},
+ timestamp = {2007.08.21}
+}
+
+@TECHREPORT{Knueppel1999,
+ author = {O. Kn\"uppel},
+ title = {{PROFIL/BIAS V 2.0}},
+ institution = {Technische Universit\"at Hamburg-Harburg},
+ year = {1999},
+ owner = {matthias},
+ timestamp = {2016.02.03}
+}
+
+@PHDTHESIS{Knepper2011,
+ author = {Ross A. Knepper},
+ title = {On the Fundamental Relationships Among Path Planning Alternatives},
+ school = {Carnegie Mellon University},
+ year = {2011},
+ owner = {dahe9687},
+ timestamp = {2013.05.08}
+}
+
+@BOOK{Koeppen1997,
+ title = {Fehlerdiagnose mit k{\"u}nstlichen neuronalen Netzen},
+ publisher = {VDI Fortschrittberichte},
+ year = {1997},
+ author = {Koeppen-Seliger, B.},
+ file = {#F#},
+ isbn = {318363208X}
+}
+
+@ARTICLE{Kokotovic2000,
+ author = {P. Kokotovi{\'c} and M. Arcak},
+ title = {Constructive Nonlinear Control: A Historical Perspective},
+ journal = {Automatica},
+ year = {2000},
+ volume = {37},
+ pages = {637-662},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@ARTICLE{Kolev2006,
+ author = {L.~V. Kolev},
+ title = {Outer Interval Solution of the Eigenvalue Problem under General Form
+ Parametric Dependencies},
+ journal = {Reliable Computing},
+ year = {2006},
+ volume = {12},
+ pages = {121-140},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2011.01.03}
+}
+
+@ARTICLE{Kolmanovsky1998,
+ author = {I. Kolmanovsky and E.~G. Gilbert},
+ title = {Theory and Computation of Disturbance Invariant Sets for Discrete-Time
+ Linear Systems},
+ journal = {Mathematical Problems in Engineering},
+ year = {1998},
+ volume = {4},
+ pages = {317-367},
+ owner = {matthias},
+ timestamp = {2015.08.24}
+}
+
+@INPROCEEDINGS{Kong2015,
+ author = {S. Kong and S. Gao and W. Chen and E. Clarke},
+ title = {{dReach}: $\delta$-Reachability Analysis for Hybrid Systems},
+ booktitle = {Proc. of Tools and Algorithms for the Construction and Analysis of
+ Systems, 200-205},
+ year = {2015},
+ pages = {200-205},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@INPROCEEDINGS{Kosheleva05,
+ author = {O. Kosheleva and V. Kreinovich and G. Mayer and H.~T. Nguyen},
+ title = {Computing the cube of an interval matrix is {NP}-Hard},
+ booktitle = {Proc. of the ACM symposium on Applied computing},
+ year = {2005},
+ pages = {1449--1453}
+}
+
+@PHDTHESIS{Koskinen2010,
+ author = {S. Koskinen},
+ title = {Sensor Data Fusion Based Estimation of Tyre-Road Friction to Enhance
+ Collision Avoidance},
+ school = {Tampere University of Technology},
+ year = {2010},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@INPROCEEDINGS{Kouskoulas2013,
+ author = {Y. Kouskoulas and D.~W. Renshaw and A. Platzer and P. Kazanzides},
+ title = {Certifying the safe design of a virtual fixture control algorithm
+ for a surgical robot},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2013},
+ pages = {263-272},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@INPROCEEDINGS{Koutsoukos2006,
+ author = {X. Koutsoukos AND D. Riley},
+ title = {Computational Methods for Reachability Analysis of Stochastic Hybrid
+ Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2006},
+ series = {LNCS 3927},
+ pages = {377--391},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Kowali2007,
+ author = {V.~G. Kovvali and V. Alexiadis and L. Zhang},
+ title = {Video-Based Vehicle Trajectory Data Collection},
+ booktitle = {Proc. of the Transportation Research Board 86th Annual Meeting},
+ year = {2007},
+ owner = {matthias},
+ timestamp = {2012.08.02}
+}
+
+@INPROCEEDINGS{Kowalewski1997,
+ author = {S. Kowalewski and H. Treseler},
+ title = {{VERDICT} - a tool for model-based verification of real-time logic
+ process controllers},
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+ Systems},
+ year = {1997},
+ pages = {217-221},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@ARTICLE{Kowshik2011,
+ author = {H. Kowshik and D. Caveney and P.~R. Kumar},
+ title = {Provable Systemwide Safety in Intelligent Intersections},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2011},
+ volume = {60},
+ pages = {804-818},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@ARTICLE{Krasnochtanova2010,
+ author = {I. Krasnochtanova and A. Rauh and M. Kletting and H. Aschemann and
+ E.~P. Hofer and K.-M. Schoop},
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+ Wastewater Treatment Processes with Parameter Uncertainties},
+ journal = {Applied Mathematical Modeling},
+ year = {2010},
+ volume = {34},
+ pages = {744-762},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2010.09.30}
+}
+
+@BOOK{Kropf1999,
+ title = {Introduction to Formal Hardware Verification},
+ publisher = {Springer},
+ year = {1999},
+ author = {T. Kropf},
+ owner = {matthias},
+ timestamp = {2011.03.15}
+}
+
+@BOOK{Kulisch1981,
+ title = {Computer Arithmetic in Theory and Practice},
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+ year = {1981},
+ author = {U.~W. Kulisch and W.~L. Miranker},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@INPROCEEDINGS{Kumar2012,
+ author = {P. Kumar and D. Goswami and S. Chakraborty and A. Annaswamy and K.
+ Lampka and L. Thiele},
+ title = {A Hybrid Approach to Cyber-Physical Systems Verification},
+ booktitle = {Proc. of the 49th Annual Design Automation Conference},
+ year = {2012},
+ pages = {688-696},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@UNPUBLISHED{Kundert2006,
+ author = {K. Kundert},
+ title = {Predicting the Phase Noise and Jitter of PLL-Based Frequency Synthesizers},
+ note = {downloaded from www.designers-guide.org},
+ owner = {matthias},
+ timestamp = {2011.01.24}
+}
+
+@BOOK{Kundur1994,
+ title = {Power System Stability and Control},
+ publisher = {McGraw-Hill},
+ year = {1994},
+ author = {P. Kundur},
+ owner = {matthias},
+ timestamp = {2012.02.17}
+}
+
+@ARTICLE{Kundur2004,
+ author = {Kundur, P. and Paserba, J. and Ajjarapu, V. and Andersson, G. and
+ Bose, A. and Canizares, C. and Hatziargyriou, N. and Hill, D. and
+ Stankovic, A. and Taylor, C. and Van Cutsem, T. and Vittal, V.},
+ title = {Definition and Classification of Power System Stability},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2004},
+ volume = {19},
+ pages = {1387-1401},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.03.15}
+}
+
+@ARTICLE{Kuno1999,
+ author = {T. Kuno and H. Sugiura},
+ title = {Detection of Road Conditions with {CCD} Cameras Mounted on a Vehicle},
+ journal = {Systems and Computers in Japan},
+ year = {1999},
+ volume = {30},
+ pages = {88-99},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Kuo2009,
+ author = {C.-C. Kuo and M.-J. Lee and C.-N. Liu and C.-J. Huang},
+ title = {Fast Statistical Analysis of Process Variation Effects Using Accurate
+ {PLL} Behavioral Models},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {2009},
+ volume = {56},
+ pages = {1160-1172},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2011.04.04}
+}
+
+@ARTICLE{Kurshan1991,
+ author = {R.~P. Kurshan and K.~L. McMillan},
+ title = {Analysis of Digital Circuits through Symbolic Reduction},
+ journal = {IEEE Transactions on Computer-Aided Design of Integrated Circuits
+ and Systems},
+ year = {1991},
+ volume = {10},
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+ number = {11},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ ee = {http://doi.ieeecomputersociety.org/10.1109/43.97615},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@BOOK{Kurzhanski1996,
+ title = {Ellipsoidal Calculus for Estimation and Control},
+ publisher = {Birkh{\"a}user Boston},
+ year = {1996},
+ author = {A. Kurzhanski and I. Valyi},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@INBOOK{Kurzhanski2005,
+ chapter = {Ellipsoidal Techniques for Hybrid Dynamics: the Reachability Problem},
+ pages = {193-205},
+ title = {New Directions and Applications in Control Theory},
+ publisher = {Springer},
+ year = {2005},
+ author = {A.~B. Kurzhanski and P. Varaiya},
+ owner = {matthias},
+ timestamp = {2013.10.04}
+}
+
+@INPROCEEDINGS{Kurzhanski2000,
+ author = {A.~B. Kurzhanski and P. Varaiya},
+ title = {Ellipsoidal Techniques for Reachability Analysis},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2000},
+ series = {LNCS 1790},
+ pages = {202-214},
+ publisher = {Springer}
+}
+
+@INBOOK{Kurzhanskiy2010,
+ chapter = {Computation of Reach Sets for Dynamical Systems},
+ title = {The Control Handbook},
+ publisher = {CRC Press},
+ year = {2010},
+ editor = {W.~S. Levine},
+ author = {A.~A. Kurzhanskiy and P. Varaiya},
+ owner = {matthias},
+ timestamp = {2011.02.22}
+}
+
+@ARTICLE{Kurzhanskiy2007,
+ author = {A.~A. Kurzhanskiy and P. Varaiya},
+ title = {Ellipsoidal Techniques for Reachability Analysis of Discrete-Time
+ Linear Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2007},
+ volume = {52},
+ pages = {26-38},
+ number = {1},
+ owner = {althoff},
+ timestamp = {2009.12.07}
+}
+
+@ARTICLE{Kusano2012,
+ author = {K.~D. Kusano and H.~C. Gabler},
+ title = {Safety Benefits of Forward Collision Warning, Brake Assist, and Autonomous
+ Braking Systems in Rear-End Collisions},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2012},
+ volume = {13},
+ pages = {1546-1555},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.07}
+}
+
+@BOOK{Kushner2000,
+ title = {Numerical Methods for Stochastic Control Problems in Continuous Time},
+ publisher = {Springer},
+ year = {2000},
+ author = {H.~J. Kushner and P.~G. Dupuis},
+ owner = {althoff},
+ timestamp = {2008.09.29}
+}
+
+@INPROCEEDINGS{Kutluay2012,
+ author = {E. Kutluay and H. Winner},
+ title = {Assessment Methodology for Validation of Vehicle Dynamics Simulations
+ using Double Lane Change Maneuver},
+ booktitle = {Proc. of the Winter Simulation Conference},
+ year = {2012},
+ pages = {1-12},
+ owner = {matthias},
+ timestamp = {2013.11.07}
+}
+
+@ARTICLE{Kuwata2009,
+ author = {Y. Kuwata and J. Teo and G. Fiore and S. Karaman and E. Frazzoli
+ and J.~P. How},
+ title = {Real-time Motion Planning with Applications to Autonomous Urban Driving},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2009},
+ volume = {17},
+ pages = {1105-1118},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@MISC{mpt,
+ author = {M.~Kvasnica and P.~Grieder and M.~Baoti\'{c}},
+ title = {{Multi-Parametric Toolbox (MPT)}},
+ year = {2004},
+ owner = {althoff},
+ timestamp = {2007.09.18},
+ url = {http://control.ee.ethz.ch/~mpt/}
+}
+
+@INPROCEEDINGS{Kwok2010,
+ author = {A. Kwok and S. Mart{\'i}nez},
+ title = {A Coverage Algorithm for Drifters in a River Environment},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2010},
+ pages = {6436-6441},
+ owner = {matthias},
+ timestamp = {2011.05.11}
+}
+
+@ARTICLE{Kuehn1998,
+ author = {W. K{\"u}hn},
+ title = {Rigorously Computed Orbits of Dynamical Systems without the Wrapping
+ Effect},
+ journal = {Computing},
+ year = {1998},
+ volume = {61},
+ pages = {47-67},
+ owner = {althoff},
+ timestamp = {2009.02.13}
+}
+
+@ARTICLE{LaScala1998,
+ author = {M. {La Scala} and R. Sbrizzai and F. Torelli and P. Scarpellini},
+ title = {A Tracking Time Domain Simulator for Real-Time Transient Stability
+ Analysis},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1998},
+ volume = {13},
+ pages = {992-998},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@INPROCEEDINGS{Labakhua2006,
+ author = {Larissa Labakhua and Urbano Nunes and Rui Rodrigues and Fatima S.
+ Leite},
+ title = {Smooth trajectory planning for fully automated passengers vehicles:
+ Spline and clothoid based Methods and its Simulation},
+ booktitle = {proc. of the 3rd Int. Conference on Informatics in Control, Automation
+ \& Robotics},
+ year = {2006},
+ owner = {althoff},
+ timestamp = {2007.11.08}
+}
+
+@ARTICLE{Lafferriere2001,
+ author = {G. Lafferriere and G.~J. Pappas and S. Yovine},
+ title = {Symbolic Reachability Computation for Families of Linear Vector Fields},
+ journal = {Symbolic Computation},
+ year = {2001},
+ volume = {32},
+ pages = {231-253},
+ owner = {althoff},
+ timestamp = {2009.11.24}
+}
+
+@INPROCEEDINGS{Lafferriere1999a,
+ author = {G. Lafferriere and G.~J. Pappas and S. Yovine},
+ title = {A new Class of decidable Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {1999},
+ series = {LNCS 1569},
+ pages = {137--151},
+ publisher = {Springer}
+}
+
+@INPROCEEDINGS{Lafferriere1999b,
+ author = {Lafferriere, G. AND Pappas, G.~J. AND Yovine, S.},
+ title = {Reachability computation for linear hybrid systems},
+ booktitle = {Proc. of the 14th IFAC World Congress},
+ year = {1999},
+ volume = {E},
+ pages = {7--12},
+ file = {#F#}
+}
+
+@TECHREPORT{Lagerberg2007,
+ author = {A. Lagerberg},
+ title = {A Benchmark on Hybrid Control of an Automotive Powertrain with Backlash},
+ institution = {Signals and Systems, Chalmers University of Technology},
+ year = {2007},
+ number = {R005/2007},
+ owner = {matthias},
+ timestamp = {2011.10.13},
+ url = {http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-6031}
+}
+
+@INPROCEEDINGS{Lagerberg2002,
+ author = {A. Lagerberg and B.~S. Egardt},
+ title = {Evaluation of Control Strategies for Automotive Powertrains with
+ Backlash},
+ booktitle = {Proc. of the 6th Intl. Symposium on Advanced Vehicle Control},
+ year = {2002},
+ pages = {517-522},
+ owner = {matthias},
+ timestamp = {2011.09.20}
+}
+
+@INPROCEEDINGS{Lambert2008,
+ author = {A. Lambert and D. Gruyer and G.~S. Pierre and A.~N. Ndjeng},
+ title = {Collision Probability Assessment for Speed Control},
+ booktitle = {Proc. of the 11th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2008},
+ pages = {1043-1048},
+ owner = {althoff},
+ timestamp = {2010.03.23}
+}
+
+@INPROCEEDINGS{Langson1997,
+ author = {W. Langson and A. Alleyne},
+ title = {Multivariable Bilinear Vehicle Control using Steering and Individual
+ Wheel Torques},
+ booktitle = {Proc. of the American Control Conference},
+ year = {1997},
+ pages = {1136-1140},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@INPROCEEDINGS{Larsen2005,
+ author = {K.~G. Larsen and M. Mikucionis and B. Nielsen and A. Skou},
+ title = {Testing Real-Time Embedded Software Using {UPPAAL-TRON}: An Industrial
+ Case Study},
+ booktitle = {Proc. of the 5th ACM international conference on Embedded software},
+ year = {2005},
+ pages = {299-306},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@BOOK{Latombe1991,
+ title = {Robot Motion Planning},
+ publisher = {Kluwer Academic},
+ year = {1991},
+ author = {J.-C. Latombe},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{Laugier2011,
+ author = {C. Laugier and I.~E. Paromtchik and M. Perrollaz and M.~Y. Yong and
+ J. Yoder and C. Tay and K. Mekhnacha and A. Negre},
+ title = {Probabilistic Analysis of Dynamic Scenes and Collision Risks Assessment
+ to Improve Driving Safety},
+ journal = {IEEE Intelligent Transportation Systems Magazine},
+ year = {2011},
+ volume = {3},
+ pages = {4-19},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INCOLLECTION{Laugier2007,
+ author = {C.~Laugier and S.~Petti and D.~Vasquez and M.~Yguel and T.~Fraichard
+ and O.~Aycard},
+ title = {Steps Towards Safe Navigation in Open and Dynamic Environments},
+ booktitle = {Autonomous Navigation in Dynamic Environments: Models and Algorithms},
+ publisher = {Springer},
+ year = {2007},
+ pages = {45-82},
+ owner = {althoff},
+ timestamp = {2007.03.01}
+}
+
+@ARTICLE{LaValle2004,
+ author = {S.~.M. LaValle and M.~S. Branicky and S.~R. Lindemann},
+ title = {On the Relationship Between Classical Grid Search and Probabilistic
+ Roadmaps},
+ journal = {Intl. Journal of Robotics Research},
+ year = {2004},
+ volume = {23},
+ pages = {673-692},
+ number = {7-8},
+ owner = {matthias},
+ timestamp = {2011.09.15}
+}
+
+@BOOK{LaValle2006,
+ title = {Planning Algorithms},
+ publisher = {Cambridge University Press},
+ year = {2006},
+ author = {S.~M. LaValle},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@ARTICLE{LaValle2001,
+ author = {S.~M. LaValle and J.~J. Kuffner},
+ title = {Randomized Kinodynamic Planning},
+ journal = {International Journal of Robotics Research},
+ year = {2001},
+ volume = {20},
+ pages = {378-400},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@INPROCEEDINGS{LaValle1999,
+ author = {S.~M. LaValle and J.~J. Kuffner},
+ title = {Randomized Kinodynamic Planning},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {1999},
+ pages = {473 - 479},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@INPROCEEDINGS{Lawitzky2013,
+ author = {A. Lawitzky and D. Althoff and C.~F. Passenberg and G. Tanzmeister
+ and D. Wollherr and M. Buss},
+ title = {Interactive Scene Prediction for Automotive Applications},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2011},
+ pages = {1028-1033},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{Lazarus2007,
+ author = {S.~B. Lazarus and I. Ashokaraj and A. Tsourdos and R. Zbikowski and
+ P.~M.~G. Silson and N. Aouf and B.~A. White},
+ title = {Vehicle Localization Using Sensors Data Fusion Via Integration of
+ Covariance Intersection and Interval Analysis},
+ journal = {IEEE Sensors Journal},
+ year = {2007},
+ volume = {7},
+ pages = {1302-1314},
+ number = {9},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@PHDTHESIS{LeGuernic2009,
+ author = {C. {Le Guernic}},
+ title = {Reachability Analysis of Hybrid Systems with Linear Continuous Dynamics},
+ school = {Univerit{\'e} Joseph Fourier},
+ year = {2009},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@ARTICLE{LeVine2015,
+ author = {S. {Le Vine} and A. Zolfaghari and J. Polak},
+ title = {Autonomous Cars: The Tension between Occupant Experience and Intersection
+ Capacity},
+ journal = {Transportation Research Part C},
+ year = {2015},
+ volume = {52},
+ pages = {1 - 14},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{Le2013,
+ author = {V.~T.~H. Le and C. Stoica and T. Alamo and E.~F. Camacho and D. Dumur},
+ title = {Zonotopic Guaranteed State Estimation for Uncertain Systems},
+ journal = {Automatica},
+ year = {2013},
+ volume = {49},
+ pages = {3418-3424},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@BOOK{Le2013b,
+ title = {Zonotopes: From Guaranteed State-estimation to Control},
+ publisher = {Wiley},
+ year = {2013},
+ author = {V.~T.~H. Le and C. Stoica and T. Alamo and E.~F. Camacho and D. Dumur},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@INPROCEEDINGS{Lee2010,
+ author = {E.~A. Lee},
+ title = {{CPS} Foundations},
+ booktitle = {Proc. of the 47th Design Automation Conference},
+ year = {2010},
+ pages = {737-742},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@BOOK{LeeSheshia2015,
+ title = {Introduction to Embedded Systems -- A Cyber-Physical Systems Approach},
+ publisher = {LeeSeshia.org},
+ year = {2015},
+ author = {E.~A. Lee and S.~A. Seshia},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@INPROCEEDINGS{Lee1999,
+ author = {I. Lee and S. Kannan and M. Kim and 0. Sokolsky and M. Viswanathan},
+ title = {Runtime assurance based on formal specifications},
+ booktitle = {Proc. of the IntemationaI Conference on Parallel and Distributed
+ Processing Techniques and Applications},
+ year = {1999},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@INPROCEEDINGS{Lee2003,
+ author = {J. Lee and S. Song},
+ title = {Modeling urban transportation systems with hybrid systems: an overview},
+ booktitle = {Proc. of the IEEE Intelligent Transportation Systems},
+ year = {2003},
+ pages = {1269-1272},
+ owner = {althoff},
+ timestamp = {2008.01.08}
+}
+
+@ARTICLE{Lee2002,
+ author = {J.~D. Lee and D.~V. McGehee and T.~L. Brown and M.~L. Reyes},
+ title = {Collision Warning Timing, Driver Distraction, and Driver Response
+ to Imminent Rear-End Collisions in a High-Fidelity Driving Simulator},
+ journal = {Human Factors},
+ year = {2002},
+ volume = {44},
+ pages = {314-334},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.05.16}
+}
+
+@ARTICLE{Lee2005,
+ author = {Lee, K. AND Peng, H.},
+ title = {Evaluation of automotive forward collision warning and collision
+ avoidance algorithms},
+ journal = {Vehicle System Dynamics},
+ year = {2005},
+ volume = {43},
+ pages = {735--751},
+ number = {10}
+}
+
+@ARTICLE{Lefevre2014,
+ author = {S. Lef{\`e}vre and D. Vasquez and C. Laugier},
+ title = {A Survey on Motion Prediction and Risk Assessment for Intelligent
+ Vehicles},
+ journal = {ROBOMECH journal},
+ year = {2014},
+ volume = {1},
+ pages = {1-14},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.01.11}
+}
+
+@ARTICLE{Lefevre1998,
+ author = {V. Lef{\`e}vre and J.-M. Muller and A. Tisserand},
+ title = {Toward Correctly Rounded Transcendentals},
+ journal = {IEEE Transactions on Computers},
+ year = {1998},
+ volume = {47},
+ pages = {1235-1243},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2016.02.12}
+}
+
+@ARTICLE{Leith2000,
+ author = {D.~J. Leith and W.~E. Leithead},
+ title = {Survey of Gain-Scheduling Analysis and Design},
+ journal = {International Journal of Control},
+ year = {2000},
+ volume = {73},
+ pages = {1001-1025},
+ owner = {matthias},
+ timestamp = {2010.09.09}
+}
+
+@ARTICLE{Lengagne2011,
+ author = {S. Lengagne and N. Ramdani and P. Fraisse},
+ title = {Planning and Fast Replanning Safe Motions for Humanoid Robots},
+ journal = {IEEE Transactions on Robotics},
+ year = {2011},
+ volume = {27},
+ pages = {1095-1106},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2014.01.16}
+}
+
+@ARTICLE{Lenne1997,
+ author = {M.~G. Lenn{\'e} and T.~J. Triggs and J.~R. Redman},
+ title = {Time of Day Variations in Driving Performance},
+ journal = {Accident Analysis \& Prevention},
+ year = {Volume 29, Issue 4, July 1997, Pages 431–437},
+ volume = {29},
+ pages = {431-437},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.01.15}
+}
+
+@ARTICLE{Li2004,
+ author = {K. Li and P. Ioannou},
+ title = {Modeling of Traffic Flow of Automated Vehicles},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2004},
+ volume = {5},
+ pages = {99-113},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.01.16}
+}
+
+@INPROCEEDINGS{Li2012,
+ author = {M. Li and S. Liu},
+ title = {Automated Functional Scenarios-based Formal Specification Animation},
+ booktitle = {Proc. of the 19th Asia-Pacific Software Engineering Conference},
+ year = {2012},
+ pages = {107 - 115},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@INPROCEEDINGS{Li2010,
+ author = {W. Li and A. Forin and S.~A. Seshia},
+ title = {Scalable Specification Mining for Verification and Diagnosis},
+ booktitle = {Proc. of the 47th ACM/IEEE Design Automation Conference},
+ year = {2010},
+ pages = {755 - 760},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Li2007,
+ author = {Y. Li and H.-D. Chiang and B.-K. Choi and Y.-T. Chen and D.-H. Huang
+ and M.G. Lauby},
+ title = {Representative Static Load Models for Transient Stability Analysis:
+ Development and Examination},
+ journal = {IET Geneartion, Transmission \& Distribution},
+ year = {2007},
+ volume = {1},
+ pages = {422-431},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@BOOK{Lichtenberg1998,
+ title = {Theorie und Anwendung der qualitativen Modellierung zeitdiskreter
+ dynamischer Systeme durch nichtdeterministische Automaten},
+ publisher = {VDI},
+ year = {1998},
+ author = {Lichtenberg, G.},
+ series = {Fortschritt-Berichte},
+ file = {#F#},
+ isbn = {3183686082}
+}
+
+@INPROCEEDINGS{Liebner2013,
+ author = {M. Liebner and C. Ruhhammer and F. Klanner and C. Stiller},
+ title = {Generic Driver Intent Inference based on Parametric Models},
+ booktitle = {Proc. of the 16th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2013},
+ pages = {268-275},
+ owner = {matthias},
+ timestamp = {2016.03.21}
+}
+
+@ARTICLE{Limon2010,
+ author = {D. Limon and I. Alvarado and T. Alamo and E.~F.Camacho},
+ title = {Robust tube-based {MPC} for tracking of constrained linear systems
+ with additive disturbances},
+ journal = {Journal of Process Control },
+ year = {2010},
+ volume = {20},
+ pages = {248-260},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@ARTICLE{Lin2000,
+ author = {C.-F. Lin and A.~G. Ulsoy and D.~J. LeBlanc},
+ title = {Vehicle Dynamics and External Disturbance Estimation for Vehicle
+ Path Prediction},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2000},
+ volume = {8},
+ pages = {508-518},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@ARTICLE{Lin1974,
+ author = {C.-T. Lin},
+ title = {Structural Controllability},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1974},
+ volume = {19},
+ pages = {201-208},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Lin2012,
+ author = {H. Lin and S.~S. Veda and S.~S. Shukla and L. Mili and J. Thorp},
+ title = {GECO: Global Event-Driven Co-Simulation Framework for Interconnected
+ Power System and Communication Network},
+ journal = {IEEE Transactions on Smart Grid},
+ year = {2012},
+ volume = {3},
+ pages = {1444-1456},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@ARTICLE{Liou1966,
+ author = {M.~L.~Liou},
+ title = {A Novel Method of Evaluating Transient Response},
+ journal = {Proceedings of the IEEE},
+ year = {1966},
+ volume = {54},
+ pages = {20--23},
+ booktitle = {Proceedings of the IEEE}
+}
+
+@BOOK{Lipo2012,
+ title = {Analysis of Synchronous Machines},
+ publisher = {CRC Press},
+ year = {2012},
+ author = {T.~A. Lipo},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INPROCEEDINGS{Lisowski2007,
+ author = {J. Lisowski},
+ title = {Intelligent Safe Ship Control Methods in Collision Situations},
+ booktitle = {Proc. of the European Control Conference},
+ year = {2007},
+ pages = {2250-2257},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@ARTICLE{Little2010,
+ author = {S. Little and D. Walter and K. Jones and C.~J. Myers and A. Sen},
+ title = {Analog/Mixed-Signal Circuit Verification Using Models Generated from
+ Simulation Traces},
+ journal = {International Journal of Foundations of Computer Science},
+ year = {2010},
+ volume = {21},
+ pages = {191-210},
+ number = {2},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ ee = {http://dx.doi.org/10.1142/S0129054110007209},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@INPROCEEDINGS{Little2004,
+ author = {S. Little and D. Walter and N. Seegmiller and C.~J. Myers and T.
+ Yoneda},
+ title = {Verification of Analog and Mixed-Signal Circuits Using Timed Hybrid
+ {Petri} Nets},
+ booktitle = {Proc. of the 2nd International Conference on Automated Technology
+ for Verification and Analysis},
+ year = {2004},
+ pages = {426-440},
+ bibsource = {DBLP, http://dblp.uni-trier.de},
+ ee = {http://springerlink.metapress.com/openurl.asp?genre=article{\&}issn=0302-9743{\&}volume=3299{\&}spage=426},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@BOOK{Litz2004,
+ title = {Grundlagen der Automatisierungstechnik},
+ publisher = {Oldenburg},
+ year = {2004},
+ author = {L. Litz},
+ owner = {matthias},
+ timestamp = {2011.12.29}
+}
+
+@ARTICLE{Liu2013,
+ author = {J. Liu and N. Ozay and U. Topcu and R.~M. Murray},
+ title = {Synthesis of Reactive Switching Protocols From Temporal Logic Specifications},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2013},
+ volume = {58},
+ pages = {1771-1785},
+ number = {7},
+ owner = {matthias},
+ timestamp = {2015.09.23}
+}
+
+@ARTICLE{Livadas2000,
+ author = {C. Livadas and J. Lygeros and N.~A. Lynch},
+ title = {High-Level Modeling and Analysis of the Traffic Alert and Collision
+ Avoidance System (TCAS)},
+ journal = {Proceedings of the IEEE},
+ year = {2000},
+ volume = {88},
+ pages = {926-948},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@INBOOK{Lohner2001,
+ chapter = {On the Ubiquity of the Wrapping Effect in the Computation of the
+ Error Bounds},
+ pages = {201-217},
+ title = {Perspectives on Enclosure Methods},
+ publisher = {Springer},
+ year = {2001},
+ editor = {U. Kulisch and R. Lohner and A. Facius},
+ author = {R. Lohner},
+ owner = {matthias},
+ timestamp = {2011.01.03}
+}
+
+@INPROCEEDINGS{Lombardi2011,
+ author = {W. Lombardi and S. Olaru and M. Lazar and S.-I. Niculescu},
+ title = {On Positive Invariance for Delay Difference Equations},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2011},
+ pages = {3674-3679},
+ owner = {matthias},
+ timestamp = {2015.08.05}
+}
+
+@INPROCEEDINGS{Loos2011,
+ author = {S.~M. Loos and A. Platzer and L. Nistor},
+ title = {Adaptive Cruise Control: Hybrid, Distributed, and now Formally Verified},
+ booktitle = {Proc. of the 17th International Symposium on Formal Methods},
+ year = {2011},
+ series = {LNCS 6664},
+ pages = {42-56},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2011.05.11}
+}
+
+@INPROCEEDINGS{Loos2013,
+ author = {S.~M. Loos and D. Witmer and P. Steenkiste and A. Platzer},
+ title = {Efficiency Analysis of Formally Verified Adaptive Cruise Controllers},
+ booktitle = {Proc. of the 16th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2013},
+ pages = {1565-1570},
+ owner = {matthias},
+ timestamp = {2014.01.16}
+}
+
+@ARTICLE{Luenberger1964,
+ author = {D. G. Luenberger},
+ title = {Observing the State of a Linear System},
+ journal = {IEEE Transactions on Military Electronics},
+ year = {1964},
+ volume = {8},
+ pages = {74-80},
+ owner = {matthias},
+ timestamp = {2015.10.18}
+}
+
+@ARTICLE{Luettel2012,
+ author = {T. Luettel and M. Himmelsbach and H.-J. Wuensche},
+ title = {Autonomous Ground Vehicles -- Concepts and a Path to the Future},
+ journal = {Proceedings of the IEEE},
+ year = {2012},
+ volume = {100},
+ pages = {1831-1839},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Lumelsky1985,
+ author = {V.~J. Lumelsky},
+ title = {On fast computation of distance between line segments},
+ journal = {Information Processing Letters},
+ year = {1985},
+ volume = {21},
+ pages = {55-61},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.01.07}
+}
+
+@BOOK{Lunze2008,
+ title = {Automatisierungstechnik},
+ publisher = {Oldenburg},
+ year = {2008},
+ author = {J. Lunze},
+ owner = {matthias},
+ timestamp = {2011.12.29}
+}
+
+@BOOK{Lunze2006,
+ title = {Ereignisdiskrete Systeme},
+ publisher = {Oldenburg},
+ year = {2006},
+ author = {J. Lunze},
+ owner = {matthias},
+ timestamp = {2011.12.29}
+}
+
+@ARTICLE{Lunze2001,
+ author = {Lunze, J. AND Nixdorf, B.},
+ title = {Representation of hybrid systems by means of stochastic automata},
+ journal = {Mathematical and Computer Modeling of Dynamical Systems},
+ year = {2001},
+ volume = {7},
+ pages = {383--422},
+ file = {#F#},
+ series = {Mathematical and Computer Modeling of Dynamical Systems}
+}
+
+@ARTICLE{Lunze1999,
+ author = {J. Lunze and B. Nixdorf and J. Schr{\"o}der},
+ title = {Deterministic Discrete-Event Representations of Linear Continuous-Variable
+ Systems},
+ journal = {Automatica},
+ year = {1999},
+ volume = {35},
+ pages = {395-406},
+ owner = {althoff},
+ timestamp = {2009.12.18}
+}
+
+@ARTICLE{Lunze2004,
+ author = {J. Lunze and J. Schr{\"o}der},
+ title = {Sensor and Actuator Fault Diagnosis of Systems with Discrete Inputs
+ and Outputs},
+ journal = {IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics},
+ year = {2004},
+ volume = {34},
+ pages = {1096-1107},
+ number = {2},
+ owner = {althoff},
+ timestamp = {2008.08.21}
+}
+
+@INPROCEEDINGS{Lunze2001b,
+ author = {J. Lunze and J. Schr{\"o}der},
+ title = {Computation of Complete Abstractions of Quantised Systems},
+ booktitle = {Proc. of the European Control Conference},
+ year = {2001},
+ pages = {3137-3142},
+ owner = {althoff},
+ timestamp = {2009.12.18}
+}
+
+@INPROCEEDINGS{Lygeros1996,
+ author = {J. Lygeros and D.~N. Godbole and S. Sastry},
+ title = {A Verified Hybrid Controller for Automated Vehicles},
+ booktitle = {Proc. of the 35th Conference on Decision and Control},
+ year = {1996},
+ pages = {2289-2294},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@INPROCEEDINGS{Maeder2003,
+ author = {W. M\"ader and S. Resch},
+ title = {Aktive Sicherheit - Neue Trends der globalen Standardisierung},
+ booktitle = {fahrwerk.tech},
+ year = {2003},
+ owner = {althoff},
+ timestamp = {2008.01.10}
+}
+
+@INPROCEEDINGS{Ma2011,
+ author = {M. Ma and L. Hedrich and C. Sporrer},
+ title = {A machine-readable specification of analog circuits for integration
+ into a validation flow},
+ booktitle = {Proc. of the Forum on Specification and Design Languages},
+ year = {2011},
+ pages = {1 - 8},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@BOOK{Machowski2008,
+ title = {Power System Dynamics: Stability and Control},
+ publisher = {Wiley},
+ year = {2008},
+ author = {J. Machowski and J. Bialek and J. Bumby},
+ owner = {matthias},
+ timestamp = {2013.03.08}
+}
+
+@ARTICLE{Mahmudov2001,
+ author = {N.~I. Mahmudov},
+ title = {Controllability of Linear Stochastic Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2001},
+ volume = {46},
+ pages = {724-731},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@TECHREPORT{Maile2009,
+ author = {M. Maile and L. Delgrossi},
+ title = {Cooperative Intersection Collision Avoidance System for Violations
+ ({CICAS-V}) for Avoidance of Violation-Based Intersection Crashes},
+ institution = {National Highway Traffic Safety Administration},
+ year = {2009},
+ number = {09-0118},
+ owner = {matthias},
+ timestamp = {2011.03.07}
+}
+
+@INPROCEEDINGS{Majumdar2012,
+ author = {A. Majumdar and M. Tobenkin and R. Tedrake},
+ title = {Algebraic Verification for Parameterized Motion Planning Libraries},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2012},
+ pages = {250-257},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INPROCEEDINGS{BenMakhlouf2006,
+ author = {I.~B. Makhlouf and S. Kowalewski},
+ title = {An Evaluation of Two Recent Reachability Analysis Tools for Hybrid
+ Systems},
+ booktitle = {Proc. of the 2nd IFAC Conference on Analysis and Design of Hybrid
+ Systems},
+ year = {2006},
+ pages = {377-382},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@INPROCEEDINGS{BenMakhlouf2009,
+ author = {I.~B. Makhlouf and S. Kowalewski and M. Guillermo and C. Grunewald
+ and D. Abel},
+ title = {Safety Assessment of Networked Vehicle Platoon Controllers -- Practical
+ Experiences With Available Tools},
+ booktitle = {Proc. of the 3rd IFAC Conference on Analysis and Design of Hybrid
+ Systems},
+ year = {2009},
+ pages = {292-297},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@INPROCEEDINGS{Makino2009,
+ author = {K. Makino and M. Berz},
+ title = {Rigorous Integration of Flows and {ODEs} using {Taylor} Models},
+ booktitle = {Proc. of Symbolic-Numeric Computation},
+ year = {2009},
+ pages = {79-84},
+ owner = {matthias},
+ timestamp = {2013.01.14}
+}
+
+@ARTICLE{Makino2005,
+ author = {K. Makino and M. Berz},
+ title = {Verified Global Optimization with Taylor Model based Range Bounders},
+ journal = {Transactions on Computers},
+ year = {2005},
+ volume = {4},
+ pages = {1611-1618},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@ARTICLE{Makino2003,
+ author = {K. Makino and M. Berz},
+ title = {Taylor Models and Other Validated Functional Inclusion Methods},
+ journal = {International Journal of Pure and Applied Mathematics},
+ year = {2003},
+ volume = {4},
+ pages = {379-456},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@ARTICLE{Makino1999,
+ author = {K. Makino and M. Berz},
+ title = {Efficient Control of the Dependency Problem based on {Taylor} Model
+ Methods},
+ journal = {Reliable Computing},
+ year = {1999},
+ volume = {5},
+ pages = {3-12},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@INPROCEEDINGS{Maler2008,
+ author = {O. Maler and G. Batt},
+ title = {Approximating Continuous Systems by Timed Automata},
+ booktitle = {Formal Methods in Systems Biology},
+ year = {2008},
+ series = {LNCS 5054},
+ pages = {77-89},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@ARTICLE{Maler2013,
+ author = {O. Maler and D. Ni\v{c}kovi{\'c}},
+ title = {Monitoring Properties of Analog and Mixed-Signal Circuits},
+ journal = {International Journal on Software Tools for Technology Transfer},
+ year = {2013},
+ volume = {15},
+ pages = {247-268},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@INPROCEEDINGS{Mamoun2005,
+ author = {M.~B. Mamoun and N. Pekergin},
+ title = {Computing Closed-Form Stochastic Bounds on Transient Distributions
+ of {Markov} Chains},
+ booktitle = {Proc. of the Symposium on Applications and the Internet Workshops},
+ year = {2005},
+ pages = {260- 263},
+ owner = {althoff},
+ timestamp = {2008.12.05}
+}
+
+@ARTICLE{Mamoun2002,
+ author = {M.~B. Mamoun and N. Pekergin},
+ title = {Closed-Form Stochastic Bounds on the Stationary Distribution of {Markov}
+ Chains},
+ journal = {Probability in the Engineering and Informational Sciences},
+ year = {2002},
+ volume = {16},
+ pages = {403-426},
+ owner = {althoff},
+ timestamp = {2009.10.08}
+}
+
+@INPROCEEDINGS{Margellos2010,
+ author = {K. Margellos and J. Lygeros},
+ title = {Hamilton-Jacobi Formulation for Reach-Avoid Problems with an Application
+ to Air Traffic Management},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2010},
+ pages = {3045-3050},
+ owner = {matthias},
+ timestamp = {2012.07.25}
+}
+
+@INPROCEEDINGS{Markert2008,
+ author = {E. Markert and U. Pro{\ss} and U. Heinkel},
+ title = {{SpecScribe Analog} - a Specification tool extension for Heterogeneous
+ Systems},
+ booktitle = {Proc. of Forum on Specification and Design Languages},
+ year = {2008},
+ pages = {243-244},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Maroto2006,
+ author = {J. Maroto and E. Delso and J. Félez and J.~M. Cabanellas},
+ title = {Real-Time Traffic Simulation With a Microscopic Model},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2006},
+ volume = {7},
+ pages = {513-527},
+ number = {4},
+ owner = {althoff},
+ timestamp = {2008.08.21}
+}
+
+@ARTICLE{Marsden2001,
+ author = {G. Marsden and M. McDonald and M. Brackstone},
+ title = {Towards an Understanding of Adaptive Cruise Control},
+ journal = {Transportation Research Part C},
+ year = {2001},
+ volume = {9},
+ pages = {33 - 51},
+ number = {1},
+ issn = {0968-090X},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@INPROCEEDINGS{Martinez-Salvador2000,
+ author = {B. Mart{\'i}nez-Salvador and A.~P. {del Pobil} and M. P{\'e}rez-Francisco},
+ title = {A Hierarchy of Detail for Fast Collision Detection},
+ booktitle = {Proc. of the IEEE/RSl International Conference on Intelligent Robots
+ and Systems},
+ year = {2000},
+ pages = {745 - 750},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Massink2004,
+ author = {M. Massink and J.-P. Katoen and D. Latella},
+ title = {Model Checking Dependability Attributes of Wireless Group Communication},
+ booktitle = {Proc. of the International Conference on Dependable Systems and Networks},
+ year = {2004},
+ pages = {711 - 720},
+ owner = {matthias},
+ timestamp = {2011.04.01}
+}
+
+@ARTICLE{Mayne2000,
+ author = {D.~Q. Mayne and J.~B. Rawlings and C.~V. Rao and P.~O.~M. Scokaert},
+ title = {Constrained model predictive control: Stability and optimality},
+ journal = {Automatica},
+ year = {2000},
+ volume = {36},
+ pages = {789-814},
+ number = {6},
+ owner = {matthias},
+ timestamp = {2016.09.27}
+}
+
+@ARTICLE{Mayne2005,
+ author = {D.~Q. Mayne and M.~M. Seron and S.~V. Rakovi{\'c}},
+ title = {Robust model predictive control of constrained linear systems with
+ bounded disturbances},
+ journal = {Automatica},
+ year = {2005},
+ volume = {41},
+ pages = {219-224},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.09.27}
+}
+
+@INPROCEEDINGS{Mayr1999,
+ author = {R. Mayr and O. Bauer},
+ title = {Safety issues in intelligent cruise control},
+ booktitle = {IEEE/IEEJ/JSAI International Conference on Intelligent Transportation
+ Systems},
+ year = {1999},
+ pages = {970-975},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{Maiga2014,
+ author = {M. Ma{\"i}ga and N. Ramdani and L. {Trav{\'e} -Massuy{\`e}s} and
+ C. Combastel},
+ title = {A {CSP} versus a Zonotope-Based Method for Solving Guard Set Intersection
+ in Nonlinear Hybrid Reachability},
+ journal = {Mathematics in Computer Science},
+ year = {2014},
+ volume = {8},
+ pages = {407-423},
+ owner = {matthias},
+ timestamp = {2015.11.09}
+}
+
+@ARTICLE{McCall2006,
+ author = {J.~C. McCall and M.~M. Trivedi},
+ title = {Video-Based Lane Estimation and Tracking for Driver Assistance: Survey,
+ System, and Evaluation},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2006},
+ volume = {7},
+ pages = {20-37},
+ owner = {matthias},
+ timestamp = {2010.08.14}
+}
+
+@ARTICLE{McCall2007,
+ author = {J.~C. McCall and D.~P. Wipf and M.~M. Trivedi and B.~D. Rao},
+ title = {Lane Change Intent Analysis Using Robust Operators and Sparse Bayesian
+ Learning},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2007},
+ volume = {8},
+ pages = {431-440},
+ owner = {althoff},
+ timestamp = {2008.11.13}
+}
+
+@INPROCEEDINGS{McGehee2000,
+ author = {D.~V. McGehee and E.~N. Mazzae and G.~H.~S. Baldwin},
+ title = {Driver Reaction Time in Crash Avoidance Research: Validation of a
+ Driving Simulator Study on a Test Track},
+ booktitle = {Proc. of the Human Factors and Ergonomics Society Annual Meeting},
+ year = {2000},
+ volume = {44},
+ number = {20},
+ pages = {320-323},
+ organization = {SAGE Publications},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{McMullen1970,
+ author = {E. McMullen},
+ title = {The Maximum Numbers of Faces of a Convex Polytope},
+ journal = {Mathematika},
+ year = {1970},
+ volume = {17},
+ pages = {179-184},
+ owner = {matthias},
+ timestamp = {2011.02.25}
+}
+
+@ARTICLE{Meek1992,
+ author = {D.~S. Meek and D.~J. Walton},
+ title = {Clothoid Spline Transition Spirals},
+ journal = {Mathematics of Computation},
+ year = {1992},
+ volume = {59},
+ pages = {117-133},
+ number = {199},
+ owner = {matthias},
+ timestamp = {2010.11.02}
+}
+
+@BOOK{Meirovitch1997,
+ title = {Principles and Techniques of Vibrations},
+ publisher = {Prentice Hall, Inc.},
+ year = {1997},
+ author = {Meirovitch, L.},
+ address = {Upper Saddle River, New Jersey 07458},
+ file = {#F#},
+ isbn = {0-02-380141-7}
+}
+
+@MISC{Mergel2009,
+ author = {A. Mergel},
+ title = {Comparison of Stochastic Reachability Analysis and {Monte Carlo}
+ Simulation for the Safety Assessment of Road Scenes},
+ howpublished = {Bachelor thesis},
+ year = {2009},
+ note = {Technische Universit{\"a}t M{\"u}nchen},
+ owner = {althoff},
+ school = {Technische Universit{\"a}t M{\"u}nchen},
+ timestamp = {2009.10.26}
+}
+
+@ARTICLE{Michael2000,
+ author = {P.~G. Michael and F.~C. Leeming and W.~O. Dwyer},
+ title = {Headway on Urban Streets: Observational Data and an Intervention
+ to Decrease Tailgating},
+ journal = {Transportation Research F: Traffic Psychology and Behaviour},
+ year = {2000},
+ volume = {3},
+ pages = {55-64},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@ARTICLE{Milanes2014,
+ author = {V. Milan{\'e}s and S.~E. Shladover and J. Spring and C. Nowakowski
+ and H. Kawazoe, and M. Nakamura},
+ title = {Cooperative Adaptive Cruise Control in Real Traffic Situations},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2014},
+ volume = {15},
+ pages = {296-305},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2014.09.25}
+}
+
+@ARTICLE{Minderhoud2001,
+ author = {M.~M. Minderhoud and P.~H.~L. Bovy},
+ title = {Extended Time-To-Collision Measures for Road Traffic Safety Assessment},
+ journal = {Accident Analysis \& Prevention},
+ year = {2001},
+ volume = {33},
+ pages = {89-97},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INPROCEEDINGS{Miner1999,
+ author = {A.~S. Miner and G. Ciardo},
+ title = {Efficient Reachability Set Generation and Storage Using Decision
+ Diagrams},
+ booktitle = {Proc. of the 20th International Conference on Applications and Theory
+ of Petri Nets},
+ year = {1999},
+ series = {LNCS 1639},
+ pages = {6-25},
+ publisher = {Springer},
+ chapter = {Efficient Reachability Set Generation and Storage Using Decision
+ Diagrams},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@INPROCEEDINGS{Minguez2002,
+ author = {J. Minguez and L. Montana and O. Khatib},
+ title = {Reactive Collision Avoidance for Navigation with Dynamic Constraints},
+ booktitle = {Proc. of the IEEE International Conference on Intelligent Robots
+ and Systems},
+ year = {2002},
+ pages = {588-594},
+ owner = {matthias},
+ timestamp = {2012.10.23}
+}
+
+@INPROCEEDINGS{Mitchell2001,
+ author = {I. Mitchell and A.~M. Bayen and C.~J. Tomlin},
+ title = {Validating a {Hamilton\textendash Jacobi} approximation to hybrid
+ system reachable sets},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2001},
+ pages = {418-432},
+ owner = {althoff},
+ timestamp = {2008.01.31}
+}
+
+@ARTICLE{Mitchell2008b,
+ author = {I.~M. Mitchell},
+ title = {The Flexible, Extensible and Efficient Toolbox of Level Set Methods},
+ journal = {Journal of Scientific Computing},
+ year = {2008},
+ volume = {35},
+ pages = {300-329},
+ number = {2-3},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@INPROCEEDINGS{Mitchell2007,
+ author = {I.~M. Mitchell},
+ title = {Comparing Forward and Backward Reachability as Tools for Safety Analysis},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2007},
+ series = {LNCS 4416},
+ pages = {428-443},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2013.10.02}
+}
+
+@ARTICLE{Mitchell2005,
+ author = {I.~M. Mitchell and A.~M. Bayen and C.~J. Tomlin},
+ title = {A Time-Dependent {Hamilton\textendash Jacobi} Formulation of Reachable
+ Sets for Continuous Dynamic Games},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2005},
+ volume = {50},
+ pages = {947-957},
+ owner = {matthias},
+ timestamp = {2011.02.22}
+}
+
+@INPROCEEDINGS{Mitchell2008,
+ author = {I.~M. Mitchell and Y. Susuki},
+ title = {Level Set Methods for Computing Reachable Sets of Hybrid Systems
+ with Differential Algebraic Equation Dynamics},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2008},
+ series = {LNCS 4981},
+ pages = {630-633},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2012.02.07}
+}
+
+@ARTICLE{Mitra2013,
+ author = {S. Mitra and T. Wongpiromsarn and R.~M. Murray},
+ title = {Verifying Cyber-Physical Interactions in Safety-Critical Systems},
+ journal = {IEEE Security and Privacy},
+ year = {2013},
+ volume = {11},
+ pages = {28-37},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Mitsch2013,
+ author = {S. Mitsch and K. Ghorbal and A. Platzer},
+ title = {On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground
+ Vehicles},
+ booktitle = {Proc. of Robotics: Science and Systems IX},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2014.01.16}
+}
+
+@INPROCEEDINGS{Moechtar1995,
+ author = {M. Moechtar and T.~C. Cheng and L. Hu},
+ title = {Transient Stability of Power System -- A Survey},
+ booktitle = {Proc. of the WESCON conference},
+ year = {1995},
+ pages = {166-171},
+ owner = {matthias},
+ timestamp = {2012.02.21}
+}
+
+@ARTICLE{Moler2003,
+ author = {C. Moler and C. Van Loan},
+ title = {Nineteen Dubious Ways to Compute the Exponential of a Matrix, Twenty-Five
+ Years Later},
+ journal = {SIAM Review},
+ year = {2003},
+ volume = {45},
+ pages = {3-49},
+ number = {1},
+ publisher = {SIAM}
+}
+
+@ARTICLE{Moll2015,
+ author = {M. Moll and I.~A. \c{S}ucan and L.~E. Kavraki},
+ title = {Benchmarking Motion Planning Algorithms: An Extensible Infrastructure
+ for Analysis and Visualization},
+ journal = {IEEE Robotics \& Automation Magazine},
+ year = {2015},
+ volume = {22},
+ pages = {96 - 102},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INPROCEEDINGS{Montagner2003,
+ author = {V.~F. Montagner and P.~L.~D. Peres},
+ title = {A new LMI Condition for the Robust Stability of Linear Time-Varying
+ Systems},
+ booktitle = {Proc. of the 42nd IEEE Conference on Decision and Control},
+ year = {2003},
+ pages = {6133-6138},
+ owner = {matthias},
+ timestamp = {2010.06.07}
+}
+
+@ARTICLE{Montejano1996,
+ author = {L. Montejano},
+ title = {Some Results about {Minkowski} Addition and Difference},
+ journal = {Mathematika},
+ year = {1996},
+ volume = {43},
+ pages = {265-273},
+ owner = {matthias},
+ timestamp = {2015.08.19}
+}
+
+@BOOK{Montenegro1999,
+ title = {Sichere und fehlertolerante Steuerungen},
+ publisher = {Hanser},
+ year = {1999},
+ author = {Montenegro, S.},
+ file = {#F#},
+ isbn = {3446212353}
+}
+
+@ARTICLE{Montgomery1989,
+ author = {Montgomery, H.~L.},
+ title = {Computing the Volume of a Zonotope},
+ journal = {Amer. Math.Monthly, 96 (1989)},
+ year = {1989},
+ pages = {431},
+ file = {#F#}
+}
+
+@BOOK{Moore2009,
+ title = {Introduction to Interval Analysis},
+ publisher = {Society for Industrial and Applied Mathematics},
+ year = {2009},
+ author = {R.~E. Moore and R.~B. Kearfott and M.~J. Cloud},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@INPROCEEDINGS{Moravec1985,
+ author = {H.~P. Moravec and A. Elfes},
+ title = {High Resolution Maps from Wide Angle Sonar},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {1985},
+ pages = {116-121},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Morison2006,
+ author = {K. Morison and L. Wang and H. Hamadani},
+ title = {New Tools for Blackout Prevention},
+ booktitle = {Proc. of Power Systems Conference and Exposition},
+ year = {2006},
+ pages = {319 - 324},
+ owner = {matthias},
+ timestamp = {2013.07.04}
+}
+
+@ARTICLE{Morris2008,
+ author = {B.~T. Morris and M.~M. Trivedi},
+ title = {Learning, Modeling, and Classification of Vehicle Track Patterns
+ from Live Video},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2008},
+ volume = {9},
+ pages = {425-437},
+ owner = {althoff},
+ timestamp = {2009.03.23}
+}
+
+@INPROCEEDINGS{Mortari1996,
+ author = {D.~Mortari},
+ title = {The n-dimensional cross product and its application to the matrix
+ eigenanalysis},
+ booktitle = {Proc. of the AIAA/AAS Astrodynamics Conference},
+ year = {1996},
+ owner = {althoff},
+ timestamp = {2007.09.17}
+}
+
+@ARTICLE{Muller1959,
+ author = {M.~E. Muller},
+ title = {A Note on a Method for Generating Points Uniformly on N-Dimensional
+ Spheres},
+ journal = {Communications of the ACM},
+ year = {1959},
+ volume = {2},
+ pages = {19-20},
+ owner = {althoff},
+ timestamp = {2008.10.20}
+}
+
+@ARTICLE{Munz2010,
+ author = {M. Munz and M. M{\"a}hlisch and K. Dietmayer},
+ title = {Generic Centralized Multi Sensor Data Fusion Based on Probabilistic
+ Sensor and Environment Models for Driver Assistance Systems},
+ journal = {IEEE Intelligent Transportation Systems Magazine},
+ year = {2010},
+ volume = {2},
+ pages = {6-17},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Muyeen2007,
+ author = {S.~M. Muyeen and R. Takahashi and T. Murata and J. Tamura and Y.
+ Tomaki and A. Sakahara and E. Sasano},
+ title = {Comparative Study on Transient Stability Analysis of Wind Turbine
+ Generator System using Different Drive Train Models},
+ journal = {IET Renewable Power Generation},
+ year = {2007},
+ volume = {1},
+ pages = {131-141},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Mueller2012,
+ author = {S.~C. M{\"u}ller and H. Georg and C. Rehtanz and C. Wietfeld},
+ title = {Hybrid Simulation of Power Systems and ICT for Real-Time Applications},
+ booktitle = {Proc. of the 3rd IEEE PES Innovative Smart Grid Technologies Europe},
+ year = {2012},
+ pages = {1-7},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@ARTICLE{Narasimhamurthi1984,
+ author = {N. Narasimhamurthi and M.~R. Musavi},
+ title = {A Generalized Energy Function for Transient Stability Analysis of
+ Power Systems},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {1984},
+ volume = {31},
+ pages = {637-645},
+ number = {7},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@ARTICLE{Nassreddine2010,
+ author = {G. Nassreddine and F. Abdallah, and T. Den{\oe}ux},
+ title = {State Estimation Using Interval Analysis and Belief-Function Theory:
+ Application to Dynamic Vehicle Localization},
+ journal = {IEEE Transactions on Systems, Man and Cybernetics},
+ year = {2010},
+ volume = {40},
+ pages = {1205-1218},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@INBOOK{Nedialkov2011,
+ chapter = {Implementing a Rigorous ODE Solver through Literate Programming},
+ pages = {3-19},
+ title = {Modeling, Design, and Simulation of Systems with Uncertainties.},
+ publisher = {Springer},
+ year = {2011},
+ author = {N.~S. Nedialkov},
+ volume = {3},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@INPROCEEDINGS{Nedialkov2002,
+ author = {N.~S. Nedialkov and M. {von Mohrenschildt}},
+ title = {Rigorous Simulation of Hybrid Dynamic Systems with Symbolic and Interval
+ Methods},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2002},
+ pages = {140-147},
+ owner = {matthias},
+ timestamp = {2011.10.03}
+}
+
+@INBOOK{Nedialkov2001,
+ chapter = {A New Perspective on the Wrapping Effect in Interval Methods for
+ Initial Value Problems for Ordinary Differential Equations},
+ pages = {219-264},
+ title = {Perspectives on Enclosure Methods},
+ publisher = {Springer-Verlag},
+ year = {2001},
+ editor = {A. Facius and U. Kulisch and R. Lohner},
+ author = {N.~S. Nedialkov and K.~R. Jackson},
+ owner = {matthias},
+ timestamp = {2010.09.11}
+}
+
+@ARTICLE{Nedialkov2004,
+ author = {N.~S. Nedialkov and V. Kreinovich and S.~A. Starks},
+ title = {Interval Arithmetic, Affine Arithmetic, {Taylor} Series Methods:
+ Why, What Next?},
+ journal = {Numerical Algorithms},
+ year = {2004},
+ volume = {37},
+ pages = {325-336},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@ARTICLE{Neher2007,
+ author = {M. Neher and K.~R. Jackson and N.~S. Nedialkov},
+ title = {On {Taylor} Model Based Integration of {ODEs}},
+ journal = {SIAM Journal on Numerical Analysis},
+ year = {2007},
+ volume = {45},
+ pages = {236-262},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.01.14}
+}
+
+@ARTICLE{Neumaier2003,
+ author = {A. Neumaier},
+ title = {Taylor Forms---Use and Limits},
+ journal = {Reliable Computing},
+ year = {2003},
+ volume = {9},
+ pages = {43-79},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@INPROCEEDINGS{Nghiem2010,
+ author = {T. Nghiem and S. Sankaranarayanan and G. Fainekos and F. Ivan\v{c}i\'{c}
+ and A.Gupta and G.~J. Pappas},
+ title = {Monte-Carlo Techniques for Falsification of Temporal Properties of
+ Non-Linear Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2010},
+ pages = {211-220},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@ARTICLE{Ning2010,
+ author = {H. Ning and W. Xu and Y. Zhou and Y. Gong and T.~S. Huang},
+ title = {A General Framework to Detect Unsafe System States From Multisensor
+ Data Stream},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2010},
+ volume = {11},
+ pages = {4-15},
+ owner = {althoff},
+ timestamp = {2010.03.23}
+}
+
+@INPROCEEDINGS{Nishiwaki2009,
+ author = {Y. Nishiwaki and C. Miyajima and H. Kitaoka and K. Takeda},
+ title = {Stochastic modeling of vehicle trajectory during lane-changing},
+ booktitle = {Proc. of the IEEE International Conference on Acoustics, Speech and
+ Signal Processing},
+ year = {2009},
+ pages = {1377-1380},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Nishiwaki2008,
+ author = {Y. Nishiwaki and C. Miyajima and N. Kitaoka and R. Terashima and
+ T. Wakita and K. Takeda},
+ title = {Generating Lane-Change Trajectories of Individual Drivers},
+ booktitle = {Proc. of the IEEE International Conference on Vehicular Electronics
+ and Safety},
+ year = {2008},
+ pages = {271-275},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@ARTICLE{Nordin2002,
+ author = {M. Nordin and P.-O. Gutman},
+ title = {Controlling Mechanical Systems with Backlash -- A Survey},
+ journal = {Automatica},
+ year = {2002},
+ volume = {38},
+ pages = {1633 - 1649},
+ owner = {matthias},
+ timestamp = {2011.10.13}
+}
+
+@ELECTRONIC{Nowak2010,
+ author = {W. Nowak and A. Zakharov and S. Blumenthal and E. Prassler},
+ year = {2010},
+ title = {Benchmarks for Mobile Manipulation and Robust Obstacle Avoidance
+ and Navigation},
+ note = {Deliverable D3.1 of EU Project Best Practice in Robotics (BRICS)},
+ url = {http://www.wies-pro.de/pages/publications/BRICS_Deliverable_D3.1.pdf},
+ owner = {matthias},
+ timestamp = {2016.12.31}
+}
+
+@ARTICLE{ORourke1985,
+ author = {J. O'Rourke},
+ title = {Finding Minimal Enclosing Boxes},
+ journal = {International Journal of Computer and Information Sciences},
+ year = {1985},
+ volume = {14},
+ pages = {183-199},
+ owner = {althoff},
+ timestamp = {2009.12.02}
+}
+
+@INPROCEEDINGS{Odenthal1999,
+ author = {D. Odenthal and T. B\"unte and J. Ackermann},
+ title = {Nonlinear Steering and Braking Control for Vehicle Rollover Avoidance},
+ booktitle = {Proc. of the European Control Conference},
+ year = {1999},
+ pages = {598-603},
+ owner = {matthias},
+ timestamp = {2017.01.16}
+}
+
+@BOOK{Oksendal2003,
+ title = {Stochastic Differential Equations},
+ publisher = {Springer},
+ year = {2003},
+ author = {B. Oksendal},
+ owner = {althoff},
+ timestamp = {2008.04.25}
+}
+
+@INPROCEEDINGS{Olsen2002,
+ author = {E.~C.~B. Olsen and S.~E. Lee and W.~W. Wierwille and M.~J. Goodman},
+ title = {Analysis of Distribution, Frequency, and Duration of Naturalistic
+ Lane Changes},
+ booktitle = {Proc. of the 46th Annual Meeting of the Human Factors and Ergonomics
+ Society},
+ year = {2002},
+ pages = {1789-1793},
+ owner = {althoff},
+ timestamp = {2009.03.25}
+}
+
+@ARTICLE{Oniga2010,
+ author = {F. Oniga and S. Nedevschi},
+ title = {Processing Dense Stereo Data Using Elevation Maps: Road Surface,
+ Traffic Isle, and Obstacle Detection},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2010},
+ volume = {59},
+ pages = {1172-1182},
+ owner = {matthias},
+ timestamp = {2010.08.14}
+}
+
+@ARTICLE{Oppenheimer88a,
+ author = {E.~P. Oppenheimer AND A.~N. Michel},
+ title = {Application of Interval Analysis Techniques to Linear Systems: Part
+ {I} - Fundamental Results},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {1988},
+ volume = {Volume 35},
+ pages = {1129 - 1138}
+}
+
+@ARTICLE{Oppenheimer88b,
+ author = {E.~P. Oppenheimer AND A.~N. Michel},
+ title = {Application of Interval Analysis Techniques to Linear Systems: Part
+ {II} - The Interval Matrix Exponential Function},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {1988},
+ volume = {35},
+ pages = {1230 - 1242}
+}
+
+@ARTICLE{Oppenheimer88c,
+ author = {E.~P. Oppenheimer AND A.~N. Michel},
+ title = {Application of Interval Analysis Techniques to Linear Systems: Part
+ {III} - Initial Value Problems},
+ journal = {IEEE Transactions on Circuits and Systems},
+ year = {1988},
+ volume = {35},
+ pages = {1243 - 1256}
+}
+
+@BOOK{Ortega2010,
+ title = {Passivity-based Control of Euler-Lagrange Systems: Mechanical, Electrical
+ and Electromechanical Applications},
+ publisher = {Springer},
+ year = {2010},
+ author = {R. Ortega and A. Lor{\'\i}a and P.~J. Nicklasson and H. Sira-Ram{\'\i}rez},
+ owner = {matthias},
+ timestamp = {2013.03.09}
+}
+
+@BOOK{Ortony1988,
+ title = {The Cognitive Structure of Emotions},
+ publisher = {Cambridge University Press},
+ year = {1988},
+ author = {A. Ortony and G. Clore and A. Collins},
+ owner = {althoff},
+ timestamp = {2008.12.02}
+}
+
+@ARTICLE{Ostojic1991,
+ author = {D.~R. Ostoji{\'c} and G.~T. Heydt},
+ title = {Transient Stability Assessment by Pattern Regognition in the Frequency
+ Domain},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1991},
+ volume = {6},
+ pages = {231-237},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2012.03.23}
+}
+
+@INPROCEEDINGS{Otto2011,
+ author = {C. Otto and F. {Puente Le\'on} and A. Schwarzhaupt},
+ title = {A Strategy on Situation Evaluation for Driver Assistance Systems
+ in Commercial Vehicles Considering Pedestrians in Urban Traffic},
+ booktitle = {Proc. of the 2011 IEEE Intelligent Vehicles Symposium},
+ year = {2011},
+ pages = {218-223},
+ owner = {matthias},
+ timestamp = {2012.07.25}
+}
+
+@INPROCEEDINGS{Overstreet2012,
+ author = {J. Overstreet and F. Khorrami},
+ title = {Multi-Ordered Short-Range Mover Prediction Models for Tracking and
+ Avoidance},
+ booktitle = {Proc. of the 51st IEEE Conference on Decision and Control},
+ year = {2012},
+ pages = {1770-1775},
+ owner = {matthias},
+ timestamp = {2013.03.07}
+}
+
+@BOOK{Pacejka2002,
+ title = {Tyre and Vehicle Dynamics},
+ publisher = {Butterworth-Heinemann},
+ year = {2002},
+ author = {H.~B. Pacejka},
+ owner = {matthias},
+ timestamp = {2017.01.19}
+}
+
+@ARTICLE{Paden2016,
+ author = {B. Paden and M. \v{C}\'ap and S. Z. Yong and D. Yershov and E. Frazzoli},
+ title = {A Survey of Motion Planning and Control Techniques for Self-Driving
+ Urban Vehicles},
+ journal = {IEEE Transactions on Intelligent Vehicles},
+ year = {2016},
+ volume = {1},
+ pages = {33-55},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.11.24}
+}
+
+@ARTICLE{Panos2006,
+ author = {Panos, P.~M. AND Altannar, C.},
+ title = {Some recent developments in deterministic global optimization},
+ journal = {Appl. Comput. Math},
+ year = {2006},
+ volume = {5},
+ pages = {16--34},
+ number = {1}
+}
+
+@ARTICLE{Papachristodoulou2009,
+ author = {A. Papachristodoulou and S. Prajna},
+ title = {Robust Stability Analysis of Nonlinear Hybrid Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2009},
+ volume = {54},
+ pages = {1035-1041},
+ owner = {matthias},
+ timestamp = {2012.07.16}
+}
+
+@INPROCEEDINGS{Park2012,
+ author = {J. Park and {\"U}. {\"O}zg{\"u}ner},
+ title = {Model Based Controller Synthesis using Reachability Analysis that
+ Guarantees the Safety of Autonomous Vehicles in a Convoy},
+ booktitle = {Proc. of the IEEE International Conference on Vehicular Electronics
+ and Safety},
+ year = {2012},
+ pages = {134-139},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@INPROCEEDINGS{Park2009,
+ author = {P. Park and P. {Di Marco} and P. Soldati and C. Fischione and K.~H.
+ Johansson},
+ title = {A generalized {Markov} chain model for effective analysis of slotted
+ {IEEE 802.15.4}},
+ booktitle = {Proc. of the 6th IEEE International Conference on Mobile Ad Hoc and
+ Sensor Systems},
+ year = {2009},
+ pages = {130 - 139},
+ owner = {matthias},
+ timestamp = {2011.04.01}
+}
+
+@ARTICLE{Parolini2012,
+ author = {L. Parolini and B. Sinopoli and B.~H. Krogh and Z. Wang},
+ title = {A Cyber-Physical Systems Approach to Data Center Modeling and Control
+ for Energy Efficiency},
+ journal = {Proceedings of the IEEE},
+ year = {2012},
+ volume = {100},
+ pages = {254-268},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2014.01.30}
+}
+
+@INPROCEEDINGS{Parthasarathi2007,
+ author = {R. Parthasarathi AND T. Fraichard},
+ title = {An Inevitable Collision State-Checker for a Car-Like Vehicle},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2007},
+ pages = {3068-3073},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@BOOK{Paulson2008,
+ title = {Isabelle/HOL: A Proof Assistant for Higher-Order Logic},
+ publisher = {Springer},
+ year = {2008},
+ author = {L.~C. Paulson and M. Wenzel and T. Nipkow}
+}
+
+@BOOK{Peden2004,
+ title = {World Report on Road Traffic Injury Prevention},
+ publisher = {World Health Organization},
+ year = {2004},
+ author = {M. Peden and R. Scurfield and D. Sleet and D. Mohan and A.~A. Hyder
+ and E. Jarawan and C. Mathers},
+ owner = {althoff},
+ timestamp = {2009.12.01}
+}
+
+@INPROCEEDINGS{Petti2005,
+ author = {Petti, S. and Fraichard, Th.},
+ title = {Safe Motion Planning in Dynamic Environments},
+ booktitle = {Proc. of the Conference on Intelligent Robots and Systems},
+ year = {2005}
+}
+
+@ARTICLE{Petzold1982,
+ author = {L.~R. Petzold},
+ title = {Differential/Algebraic Equations are not {ODEs}},
+ journal = {SIAM Journal on Scientific and Statistical Computing},
+ year = {1982},
+ volume = {3},
+ pages = {367-384},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.03.07}
+}
+
+@ELECTRONIC{Pfeiffer2007,
+ author = {K. Pfeiffer and A. Bubeck and N. Bl\"umlein and M. H\"agele},
+ year = {2007},
+ title = {Action Plan and Recommendation on Benchmarks for Mobile Manipulation
+ and Service Robots},
+ note = {Deliverable D4.3 of the EU project Robot Standards and Reference
+ Architectures (RoSta)},
+ url = {http://www.robot-standards.eu//Documents_RoSta_wiki/All_deliverables.zip},
+ owner = {matthias},
+ timestamp = {2016.12.31}
+}
+
+@BOOK{Pierce2002,
+ title = {Types and Programming Languages},
+ publisher = {MIT Press},
+ year = {2002},
+ author = {B.~C. Pierce}
+}
+
+@INPROCEEDINGS{Pill2006,
+ author = {I. Pill and S. Semprini and R. Cavada and M. Roveri and R. Bloem
+ and A. Cimatti},
+ title = {Formal Analysis of Hardware Requirements},
+ booktitle = {Proc. of the 43rd Design Automation Conference},
+ year = {2006},
+ pages = {821 - 826},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Pillage1990,
+ author = {L.~T. Pillage and R.~A. Rohrer},
+ title = {Asymptotic Waveform Evaluation for Timing Analysis},
+ journal = {IEEE Transactions on Computer-Aided Design},
+ year = {1990},
+ volume = {9},
+ pages = {352-366},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2010.10.10}
+}
+
+@INPROCEEDINGS{Pinto2005,
+ author = {A. Pinto and A. Sangiovanni-Vincentelli and L.~P. Carloni and R.
+ Passerone},
+ title = {Interchange Formats for Hybrid Systems: Review and Proposal},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2005},
+ series = {LNCS 3414},
+ pages = {526-541},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2014.02.07}
+}
+
+@ARTICLE{Pivtoraiko2009,
+ author = {Pivtoraiko, M. and Knepper, R.~A. and Kelly, A.},
+ title = {Differentially Constrained Mobile Robot Motion Planning in State
+ Lattices},
+ journal = {Journal of Field Robotics},
+ year = {2009},
+ volume = {26},
+ pages = {308 - 333},
+ number = {3},
+ owner = {dahe9687},
+ publisher = {Citeseer},
+ timestamp = {2011.08.03}
+}
+
+@ARTICLE{Piyabongkarn2007,
+ author = {D. Piyabongkarn and J.~Y. Lew and R. Rajamani and J.~A. Grogg and
+ Q. Yuan},
+ title = {On the Use of Torque-Biasing Systems for Electronic Stability Control:
+ Limitations and Possibilities},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2007},
+ volume = {15},
+ pages = {581-589},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@INPROCEEDINGS{Plaku2007,
+ author = {E. Plaku and K.~E. Bekris and L.~E. Kavraki},
+ title = {{OOPS} for Motion Planning: An Online, Open-source, Programming System},
+ booktitle = {IEEE International Conference on Robotics and Automation},
+ year = {2007},
+ pages = {3711-3716},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@BOOK{Platzer2010,
+ title = {Logical Analysis of Hybrid Systems: Proving Theorems for Complex
+ Dynamics},
+ publisher = {Springer},
+ year = {2010},
+ author = {A. Platzer},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@ARTICLE{Platzer2008,
+ author = {A. Platzer},
+ title = {Differential Dynamic Logic for Hybrid Systems},
+ journal = {Journal of Automated Reasoning},
+ year = {2008},
+ volume = {41},
+ pages = {143-189},
+ owner = {althoff},
+ timestamp = {2010.01.31}
+}
+
+@INPROCEEDINGS{Platzer2009,
+ author = {A. Platzer and E.~M. Clarke},
+ title = {Formal Verification of Curved Flight Collision Avoidance Maneuvers:
+ A Case Study},
+ booktitle = {Proc. of the 16th International Symposium on Formal Methods},
+ year = {2009},
+ series = {LNCS 5850},
+ pages = {547-562},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@INPROCEEDINGS{Platzer2007,
+ author = {A. Platzer and E.~M. Clarke},
+ title = {The Image Computation Problem in Hybrid Systems Model Checking},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2007},
+ series = {LNCS 4416},
+ pages = {473–486},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@ARTICLE{Platzer2009a,
+ author = {A. Platzer and E.~M. Clarke.},
+ title = {Computing Differential Invariants of Hybrid Systems as Fixedpoints},
+ journal = {Formal Methods in System Design},
+ year = {2009},
+ volume = {35},
+ pages = {98-120},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2010.11.09}
+}
+
+@INPROCEEDINGS{Platzer2009b,
+ author = {A. Platzer and J.-D. Quesel},
+ title = {European Train Control System: A Case Study in Formal Verification},
+ booktitle = {Formal Methods and Software Engineering: 11th International Conference
+ on Formal Engineering Methods},
+ year = {2009},
+ volume = {5885},
+ series = {LNCS},
+ pages = {246-265},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2010.02.06}
+}
+
+@INPROCEEDINGS{Platzer2008b,
+ author = {A. Platzer and J.-D. Quesel},
+ title = {{KeYmaera}: A Hybrid Theorem Prover for Hybrid Systems.},
+ booktitle = {Proc. of the Fourth International Joint Conference on Automated Reasoning},
+ year = {2008},
+ volume = {5195},
+ series = {LNCS},
+ pages = {171-178},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@INPROCEEDINGS{Pnueli1977,
+ author = {A. Pnueli},
+ title = {The Temporal Logic of Programs},
+ booktitle = {Proc. of the 18th Annual Symposium on Foundations of Computer Science},
+ year = {1977},
+ pages = {46-57},
+ owner = {matthias},
+ timestamp = {2012.07.25}
+}
+
+@ARTICLE{Polychronopoulos2007,
+ author = {A. Polychronopoulos and M. Tsogas and A.~J. Amditis and L. Andreone},
+ title = {Sensor Fusion for Predicting Vehicles{'} Path for Collision Avoidance
+ Systems},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2007},
+ volume = {8},
+ pages = {549-562},
+ number = {3},
+ owner = {althoff},
+ timestamp = {2008.08.25}
+}
+
+@ARTICLE{Poovendran2010,
+ author = {R. Poovendran},
+ title = {Cyber-Physical Systems: Close Encounters Between Two Parallel Worlds},
+ journal = {Proceedings of the IEEE},
+ year = {2010},
+ volume = {98},
+ pages = {1363-1366},
+ number = {8},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Pota2007,
+ author = {H. Pota and R. Eaton and J. Katupitiya and S.~D. Pathirana},
+ title = {Agricultural Robotics: A Streamlined Approach to Realization of Autonomous
+ Farming},
+ booktitle = {Proc. of the 2nd International Conference on Industrial and Information
+ System},
+ year = {2007},
+ pages = {85-90},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@INPROCEEDINGS{Prabhakar2011,
+ author = {P. Prabhakar and M. Viswanathan},
+ title = {A Dynamic Algorithm for Approximate Flow Computations},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2011},
+ pages = {133-142},
+ owner = {matthias},
+ timestamp = {2013.11.07}
+}
+
+@ARTICLE{Prajna2006,
+ author = {S. Prajna},
+ title = {Barrier Certificates for Nonlinear Model Validation},
+ journal = {Automatica},
+ year = {2006},
+ volume = {42},
+ pages = {117-126},
+ number = {1},
+ owner = {althoff},
+ timestamp = {2008.01.31}
+}
+
+@INPROCEEDINGS{Prajna2004,
+ author = {S. Prajna and A. Jadbabaie},
+ title = {Safety Verification of Hybrid Systems Using Barrier Certificates},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2004},
+ series = {LNCS 2993},
+ pages = {477-492},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2008.10.16}
+}
+
+@ARTICLE{Prajna2007,
+ author = {S. Prajna and A. Jadbabaie and G.~J. Pappas},
+ title = {A Framework for Worst-Case and Stochastic Safety Verification Using
+ Barrier Certificates},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2007},
+ volume = {52},
+ pages = {1415-1428},
+ owner = {althoff},
+ timestamp = {2008.03.04}
+}
+
+@INBOOK{Prandini2006,
+ chapter = {Stochastic reachability: Theoretical foundations and numerical approximation.},
+ pages = {107-138},
+ title = {Stochastic hybrid systems},
+ publisher = {Taylor \& Francis Group/CRC Press},
+ year = {2006},
+ editor = {H.~A. v. Blom and J. Lygeros},
+ author = {M. Prandini and J. Hu},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@INBOOK{Prandini2006b,
+ chapter = {A stochastic approximation method for reachability computations},
+ pages = {107-139},
+ title = {Stochastic hybrid systems: theory and safety critical applications},
+ publisher = {Springer},
+ year = {2006},
+ editor = {H.~A.~P. Blom and J. Lygeros},
+ author = {M. Prandini and J. Hu},
+ owner = {althoff},
+ timestamp = {2007.10.02}
+}
+
+@ARTICLE{Prandini2009,
+ author = {M. Prandini and J. Hu},
+ title = {Application of Reachability Analysis for Stochastic Hybrid Systems
+ to Aircraft Conflict Prediction},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2009},
+ volume = {54},
+ pages = {913-917},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2012.07.25}
+}
+
+@INPROCEEDINGS{Hu2008,
+ author = {M. Prandini and J. Hu},
+ title = {Application of Reachability Analysis for Stochastic Hybrid Systems
+ to Aircraft Conflict Prediction},
+ booktitle = {Proc. of the 47th IEEE Conference on Decision and Control},
+ year = {2008},
+ owner = {althoff},
+ timestamp = {2009.03.25}
+}
+
+@INPROCEEDINGS{Prandini2007,
+ author = {M. Prandini and J. Hu},
+ title = {A numerical approximation scheme for reachability analysis of stochastic
+ hybrid systems with state-dependent switchings},
+ booktitle = {Proc. of the 46th IEEE Conference on Decision and Control},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2009.09.30}
+}
+
+@MISC{Prandini2005,
+ author = {Prandini, M. AND Hu, J.},
+ title = {A Stochastic Approximation Method for Reachability Computations},
+ howpublished = {Final Report of the Hybridge Project},
+ year = {2005},
+ file = {#F#},
+ journal = {Final Report of the Hybridge Project},
+ pages = {115--147}
+}
+
+@INPROCEEDINGS{Preussig1999,
+ author = {J. Preu{\ss}ig and O. Stursberg and S. Kowalewski},
+ title = {Reachability Analysis of a Class of Switched Continuous Systems by
+ Integrating Rectangular Approximation and Rectangular Analysis},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {1999},
+ series = {LNCS 1569},
+ pages = {209-222},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@BOOK{Price2005,
+ title = {Differential Evolution: A Practical Approach to Global Optimization},
+ publisher = {Springer},
+ year = {2005},
+ author = {K. Price and R.~M. Storn and J.~A. Lampinen},
+ owner = {matthias},
+ timestamp = {2016.05.18}
+}
+
+@BOOK{Pries2010,
+ title = {Testing Complex and Embedded Systems},
+ publisher = {CRC Press},
+ year = {2010},
+ author = {K.~H. Pries and J.~M. Quigley},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Pruvost2011,
+ author = {F. Pruvost and P. Laurent-Gengoux and F. Magoul{\`e}s and F.-X. Bouchez},
+ title = {Speed-up the Computing Efficiency of Waveform Relaxation Method for
+ Power System Transient Stability},
+ booktitle = {Proc. of the 1st Int. Workshop on High Performance Computing, Networking
+ and Analytics for the Power Grid},
+ year = {2011},
+ pages = {11-18},
+ owner = {matthias},
+ timestamp = {2013.03.08}
+}
+
+@ARTICLE{Punzo2011,
+ author = {V. Punzo and M.~T. Borzacchiello and B. Ciuffo},
+ title = {On the Assessment of Vehicle Trajectory Data Accuracy and Application
+ to the {Next} {Generation} {SIMulation} ({NGSIM}) Program Data},
+ journal = {Transportation Research Part C},
+ year = {2011},
+ volume = {19},
+ pages = {1243-1262},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INPROCEEDINGS{Puri1995,
+ author = {Puri, A. AND Varaiya, P.},
+ title = {Modeling and Verification of Hybrid Systems},
+ booktitle = {Proc. of the American Control Conference},
+ year = {1995},
+ pages = {4466--4470},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Puri1994,
+ author = {A. Puri and P. Varaiya},
+ title = {Decidability of Hybrid Systems with Rectangular Differential Inclusions},
+ booktitle = {Proc. of the 6th International Conference on Computer Aided Verification},
+ year = {1994},
+ series = {LNCS 818},
+ pages = {95-104},
+ publisher = {Springer},
+ journal = {Computer Aided Verification},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Puri1995b,
+ author = {A. Puri and P. Varaiya and V. Borkar},
+ title = {$\epsilon$-approximation of differential inclusions},
+ booktitle = {Proc. of the 34th IEEE Conference on Decision and Control},
+ year = {1995},
+ pages = {2892 - 2897},
+ owner = {matthias},
+ timestamp = {2011.07.27}
+}
+
+@BOOK{Qu2004,
+ title = {Model Order Reduction Techniques},
+ publisher = {Springer},
+ year = {2004},
+ author = {Zu-Qing Qu},
+ file = {#F#},
+ isbn = {1852338075}
+}
+
+@INPROCEEDINGS{Quek2006,
+ author = {B.-K. Quek and J. Ibanez-Guzman and K.-W. Lim},
+ title = {A Survivability Framework for the Development of Autonomous Unmanned
+ Systems},
+ booktitle = {In Proc. of Control, Automation, Robotics and Vision},
+ year = {2006},
+ pages = {1-6},
+ owner = {althoff},
+ timestamp = {2008.12.02}
+}
+
+@CONFERENCE{Quigley2009,
+ author = {M. Quigley and K. Conley and B.~P. Gerkey and J. Faust and T. Foote
+ and J. Leibs and R. Wheeler and A.~Y. Ng},
+ title = {{ROS}: an open-source {Robot Operating System}},
+ booktitle = {ICRA Workshop on Open Source Software},
+ year = {2009},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@PHDTHESIS{Rabeih1997,
+ author = {E.-A.~M.~A. Rabeih},
+ title = {Torsional Vibration Analysis of Automotive Drivelines},
+ school = {University of Leeds},
+ year = {1997},
+ owner = {matthias},
+ timestamp = {2011.10.13}
+}
+
+@INPROCEEDINGS{Radke2006,
+ author = {A. Radke and Z. Gao},
+ title = {A Survey of State and Disturbance Observers for Practitioners},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2006},
+ pages = {5183-5188},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@ARTICLE{Raissi2004,
+ author = {T. Raissi and N. Ramdani and Y. Candau},
+ title = {Set Membership State and Parameter Estimation for Systems Described
+ by Nonlinear Differential Equations},
+ journal = {Automatica},
+ year = {2004},
+ volume = {40},
+ pages = {1771-1777},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@BOOK{Rajamani2006,
+ title = {Vehicle Dynamics and Control},
+ publisher = {Springer},
+ year = {2006},
+ editor = {F.~F. Ling and E.~F. Gloyna},
+ author = {R. Rajamani},
+ owner = {matthias},
+ timestamp = {2011.03.22}
+}
+
+@BOOK{Rajamani2012,
+ title = {Vehicle Dynamics and Control},
+ publisher = {Springer},
+ year = {2012},
+ author = {R. Rajamani},
+ owner = {matthias},
+ timestamp = {2011.03.22}
+}
+
+@ARTICLE{Rajamani2013,
+ author = {R. Rajamani and D. Piyabongkarn},
+ title = {New Paradigms for the Integration of Yaw Stability and Rollover Prevention
+ Functions in Vehicle Stability Control},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2013},
+ volume = {14},
+ pages = {249-261},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@ARTICLE{Rajamani2010,
+ author = {R. Rajamani and N. Piyabongkarn and J. Lew and K. Yi and G. Phanomchoeng},
+ title = {Tire-Road Friction-Coefficient Estimation},
+ journal = {IEEE Control Systems Magazine},
+ year = {2010},
+ volume = {30},
+ pages = {54 - 69},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2011.03.25}
+}
+
+@INPROCEEDINGS{Rajhans2012,
+ author = {A. Rajhans and B.~H. Krogh},
+ title = {Heterogeneous Verification of Cyber-Physical Systems using Behavior
+ Relations},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2012},
+ pages = {35-44},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Rajkumar2010,
+ author = {R. Rajkumar and I. Lee and L. Sha and J. Stankovic},
+ title = {Cyber-Physical Systems: The Next Computing Revolution},
+ booktitle = {Proc. of the 47th Design Automation Conference},
+ year = {2010},
+ pages = {731-736},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@INPROCEEDINGS{Rakovic2004,
+ author = {S. V. Rakovi{\'c} and P. Grieder and M. Kvasnica and D. Q. Mayne
+ and M. Morari},
+ title = {Computation of Invariant Sets for Piecewise Affine Discrete Time
+ Systems subject to Bounded Disturbances},
+ booktitle = {Proc. of the 43rd IEEE Conference on Decision and Control},
+ year = {2004},
+ pages = {1418-1423},
+ owner = {matthias},
+ timestamp = {2011.08.29}
+}
+
+@ARTICLE{Rakovic2006,
+ author = {S.~V. Rakovi{\'c} and E.~C. Kerrigan and D.~Q. Mayne and J. Lygeros},
+ title = {Reachability Analysis of Discrete-Time Systems With Disturbances},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2006},
+ volume = {51},
+ pages = {546-561},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2015.08.27}
+}
+
+@ARTICLE{Rakovic2012,
+ author = {S.~V. Rakovi{\'c} and B. Kouvaritakis and M. Cannon and C. Panos
+ and R. Findeisen},
+ title = {Parameterized Tube Model Predictive Control},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2012},
+ volume = {57},
+ pages = {2746-2761},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2013.03.09}
+}
+
+@INPROCEEDINGS{Rakovic2010,
+ author = {S.~V. Rakovi{\'c} and B. Kouvaritakis and R. Findeisen and M. Cannon},
+ title = {Simple Homothetic Tube Model Predictive Control},
+ booktitle = {Proc. of the 19th International Symposium on Mathematical Theory
+ of Networks and Systems},
+ year = {2010},
+ pages = {1411-1418},
+ owner = {matthias},
+ timestamp = {2012.01.11}
+}
+
+@ARTICLE{Ramadge1989,
+ author = {P.~J.~G. Ramadge and W.~M. Wonham},
+ title = {The Control of Discrete Event Systems},
+ journal = {Proceedings of the IEEE},
+ year = {1989},
+ volume = {77},
+ pages = {81-98},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@ARTICLE{Ramamoorthy1966,
+ author = {C.~V. Ramamoorthy},
+ title = {Analysis of Graphs by Connectivity Considerations},
+ journal = {Journal of the ACM},
+ year = {1966},
+ volume = {Volume 13 Issue 2, April 1966},
+ pages = {211-222},
+ owner = {matthias},
+ timestamp = {2012.02.06}
+}
+
+@ARTICLE{Ramdani2010,
+ author = {N. Ramdani and N. Meslem and Y. Candau},
+ title = {Computing Reachable Sets for Uncertain Nonlinear Monotone Systems},
+ journal = {Nonlinear Analysis: Hybrid Systems},
+ year = {2010},
+ volume = {4},
+ pages = {263-278},
+ owner = {matthias},
+ timestamp = {2010.09.11}
+}
+
+@INPROCEEDINGS{Ramdani2008a,
+ author = {N. Ramdani and N. Meslem and Y. Candau},
+ title = {Reachability analysis of uncertain nonlinear systems using guaranteed
+ set integration},
+ booktitle = {Proc. of the 17th IFAC World Congress},
+ year = {2008},
+ pages = {8972-8977},
+ owner = {althoff},
+ timestamp = {2009.01.08}
+}
+
+@INPROCEEDINGS{Ramdani2008b,
+ author = {N. Ramdani and N. Meslem and Y. Candau},
+ title = {Reachability of Uncertain Nonlinear Systems Using a Nonlinear Hybridization},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2008},
+ series = {LNCS 4981},
+ pages = {415-428},
+ publisher = {Springer},
+ owner = {althoff},
+ timestamp = {2009.01.08}
+}
+
+@ARTICLE{Ramdani2011b,
+ author = {N. Ramdani and N.~S. Nedialkov},
+ title = {Computing Reachable Sets for Uncertain Nonlinear Hybrid Systems Using
+ Interval Constraint-Propagation Techniques},
+ journal = {Nonlinear Analysis: Hybrid Systems},
+ year = {2010},
+ volume = {5},
+ pages = {149-162},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2011.09.30}
+}
+
+@INPROCEEDINGS{Ramdani2009,
+ author = {N. Ramdani and N.~S. Nedialkov},
+ title = {Computing Reachable Sets for Uncertain Nonlinear Hybrid Systems Using
+ Interval Constraint Propagation Techniques},
+ booktitle = {Proc. of the 3rd IFAC Conference on Analysis and Design of Hybrid
+ Systems},
+ year = {2009},
+ pages = {156-161},
+ owner = {matthias},
+ timestamp = {2011.04.04}
+}
+
+@INPROCEEDINGS{Ratliff2009,
+ author = {N. Ratliff and M. Zucker and J.~A. Bagnell and S. Srinivasa},
+ title = {{CHOMP}: Gradient optimization techniques for efficient motion planning},
+ booktitle = {Proc. of IEEE International Conference on Robotics and Automation},
+ year = {2009},
+ pages = {489-494},
+ owner = {matthias},
+ timestamp = {2016.12.30}
+}
+
+@ARTICLE{Ratschan2007,
+ author = {S. Ratschan and Z. She},
+ title = {Safety Verification of Hybrid Systems by Constraint Propagation Based
+ Abstraction Refinement},
+ journal = {ACM Transactions in Embedded Computing Systems},
+ year = {2007},
+ volume = {6},
+ pages = {1-23},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.03.06}
+}
+
+@INPROCEEDINGS{Ratschan2006,
+ author = {S. Ratschan and Z. She},
+ title = {Constraints for Continuous Reachability in the Verification of Hybrid
+ Systems},
+ booktitle = {Proc. of Artificial Intelligence and Symbolic Computation},
+ year = {2006},
+ series = {LNCS 4120},
+ pages = {196-210},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@BOOK{Ratschek1984,
+ title = {Computer Methods for the Range of Functions},
+ publisher = {Halsted Pr},
+ year = {1984},
+ author = {H. Ratschek and J. Rokne},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@INPROCEEDINGS{Rauh2007,
+ author = {A. Rauh and E. Auer and E.~P. Hofer},
+ title = {ValEncIA-IVP: A Comparison with Other Initial Value Problem Solvers},
+ booktitle = {CD-Proc. of the 12th GAMM-IMACS International Symposium on Scientific
+ Computing, Computer Arithmetic, and Validated Numerics},
+ year = {2007},
+ organization = {IEEE Computer Society},
+ owner = {matthias},
+ timestamp = {2010.09.30}
+}
+
+@INPROCEEDINGS{Reichardt2008,
+ author = {D.~M. Reichardt},
+ title = {Approaching Driver Models Which Integrate Models Of Emotion And Risk},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {234-239},
+ owner = {althoff},
+ timestamp = {2008.12.02}
+}
+
+@BOOK{Reischuk1990,
+ title = {Einf\"uhrung in die Komplexit\"atstheorie},
+ publisher = {B.~G. Teubner},
+ year = {1990},
+ author = {K.~R. Reischuk},
+ owner = {althoff},
+ timestamp = {2008.11.13}
+}
+
+@MISC{CS/HB1207,
+ author = {Florida House of Representatives},
+ title = {CS/HB 1207: Vehicles with Autonomous Technology},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@ARTICLE{RibbensPavella1985,
+ author = {M. Ribbens-Pavella and F.~J. Evans},
+ title = {Direct methods for studying dynamics of large-scale electric power
+ systems -- A survey},
+ journal = {Automatica},
+ year = {1985},
+ volume = {21},
+ pages = {1-21},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2012.02.22}
+}
+
+@ARTICLE{Richards2007,
+ author = {A. Richards and J.~P. How},
+ title = {Robust Distributed Model Predictive Control},
+ journal = {International Journal of Control},
+ year = {2007},
+ volume = {80},
+ pages = {1517 - 1531},
+ number = {9},
+ owner = {matthias},
+ timestamp = {2015.08.27}
+}
+
+@ARTICLE{Rohn1993,
+ author = {J. Rohn},
+ title = {Inverse Interval Matrix},
+ journal = {SIAM Journal on Numerical Analysis},
+ year = {1993},
+ volume = {30},
+ pages = {864 - 870},
+ owner = {althoff},
+ timestamp = {2009.05.07}
+}
+
+@INPROCEEDINGS{Romera2016,
+ author = {E. Romera and L.~M. Bergasa and R. Arroyo},
+ title = {Need Data for Driver Behaviour Analysis? Presenting the Public {UAH-DriveSet}},
+ booktitle = {Proc. of the 19th IEEE International Conference on Intelligent Transportation
+ Systems},
+ year = {2016},
+ pages = {387-392},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@ARTICLE{Rommes2010,
+ author = {J. Rommes and N. Martins and F.~D. Freitas},
+ title = {Computing Rightmost Eigenvalues for Small-Signal Stability Assessment
+ of Large-Scale Power Systems},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2010},
+ volume = {25},
+ pages = {929-938},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@BOOK{Rubinstein2007,
+ title = {Simulation and the Monte Carlo Method},
+ publisher = {Wiley \& Sons},
+ year = {2007},
+ author = {R. Rubinstein},
+ owner = {althoff},
+ timestamp = {2008.09.24}
+}
+
+@BOOK{Rubinstein2008,
+ title = {Simulation and the Monte Carlo Method},
+ publisher = {Wiley},
+ year = {2008},
+ author = {R.~Y. Rubinstein and D.~P. Kroese},
+ owner = {althoff},
+ timestamp = {2009.02.17}
+}
+
+@BOOK{Rugh1996,
+ title = {Linear System Theory},
+ publisher = {Prentice Hall},
+ year = {1996},
+ author = {W.~J. Rugh},
+ owner = {matthias},
+ timestamp = {2010.06.07}
+}
+
+@INBOOK{Rump1999b,
+ chapter = {INTLAB - INTerval LABoratory},
+ pages = {77-104},
+ title = {Developments in Reliable Computing},
+ publisher = {Kluwer Academic Publishers},
+ year = {1999},
+ editor = {T. Csendes},
+ author = {S.~M. Rump},
+ owner = {matthias},
+ timestamp = {2011.01.04}
+}
+
+@ARTICLE{Rump1999,
+ author = {S.~M. Rump},
+ title = {Fast and Parallel Interval Arithmetic},
+ journal = {BIT Numerical Mathematics},
+ year = {1999},
+ volume = {39},
+ pages = {534-554},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2010.06.22}
+}
+
+@INPROCEEDINGS{Rungger2012,
+ author = {M. Rungger and M. Mazo and P. Tabuada},
+ title = {Scaling Up Controller Synthesis for Linear Systems and Safety Specifications},
+ booktitle = {Proc. of the 51st IEEE Conference on Decision and Control},
+ year = {2012},
+ pages = {7638-7643},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@BOOK{Russel2013,
+ title = {Artificial Intelligence: A Modern Approach},
+ publisher = {Prentice Hall},
+ year = {2013},
+ author = {S. Russel and P. Norvig},
+ owner = {matthias},
+ timestamp = {2015.08.17}
+}
+
+@ARTICLE{Roerig2009,
+ author = {T. R{\"o}rig and N. Witte and G.~M. Ziegler},
+ title = {Zonotopes with Large {2D}-Cuts},
+ journal = {Discrete \& Computational Geometry},
+ year = {2009},
+ volume = {42},
+ pages = {527-541},
+ owner = {matthias},
+ timestamp = {2016.06.01}
+}
+
+@INPROCEEDINGS{Chakraborty2002,
+ author = {S. Chakraborty ans S. K{\"u}nzli and L. Thiele},
+ title = {Approximate Schedulability Analysis},
+ booktitle = {Proc. of the 23rd IEEE Real-Time Systems Symposium},
+ year = {2002},
+ pages = {1-10},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@INPROCEEDINGS{Tomiczkova2006,
+ author = {S.Tomiczkov{\'a}},
+ title = {Algorithms for the Computation of the Minkowski Difference},
+ booktitle = {Proc. of the 26th Conference on Geometry and Computer Designer},
+ year = {2006},
+ pages = {37-42},
+ owner = {matthias},
+ timestamp = {2015.08.24}
+}
+
+@ARTICLE{Saad1992,
+ author = {Y. Saad},
+ title = {Analysis of Some Krylov Subspace Approximations to the Matrix Exponential
+ Operator},
+ journal = {SIAM Journal on Numerical Analysis},
+ year = {1992},
+ volume = {29},
+ pages = {209-228},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.11.15}
+}
+
+@INPROCEEDINGS{Saha2014,
+ author = {I. Saha and R. Ramaithitima and V. Kumar and G.~J. Pappas and S.~A.
+ Seshia},
+ title = {Automated Composition of Motion Primitives for Multi-Robot Systems
+ from Safe LTL Specifications},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2014},
+ pages = {1525 - 1532},
+ owner = {matthias},
+ timestamp = {2015.02.27}
+}
+
+@INPROCEEDINGS{Sankaranarayanan2011,
+ author = {S. Sankaranarayanan},
+ title = {Automatic Abstraction of Non-Linear Systems Using Change of Bases
+ Transformations},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2011},
+ pages = {143-152},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@INPROCEEDINGS{Sankaranarayanan2012,
+ author = {S. Sankaranarayanan and G. Fainekos},
+ title = {Falsification of Temporal Properties of Hybrid Systems Using the
+ Cross-Entropy Method},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2012},
+ pages = {125-134},
+ owner = {matthias},
+ timestamp = {2012.09.24}
+}
+
+@ARTICLE{Santhanakrishnan2003,
+ author = {K. Santhanakrishnan and R. Rajamani},
+ title = {On Spacing Policies for Highway Vehicle Automation},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2003},
+ volume = {4},
+ pages = {198-204},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.01.16}
+}
+
+@INPROCEEDINGS{Sanwal2013,
+ author = {M.~U. Sanwal and O. Hasan},
+ title = {Formal Verification of Cyber-Physical Systems: Coping with Continuous
+ Elements},
+ booktitle = {Proc. of the 16th International Conference on Computational Science
+ and Its Applications},
+ year = {2013},
+ pages = {358-371},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Sauer1989,
+ author = {P.~W. Sauer and A.~K. Behera and M.~A. Pai and J.~R. Winkelman and
+ J.~H. Chow},
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+ Faults with Detailed Power System Models},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1989},
+ volume = {4},
+ pages = {499-506},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@INPROCEEDINGS{Savla2007,
+ author = {K. Savla and F. Bullo and E. Frazzoli},
+ title = {The Coverage Problem for Loitering {Dubins} Vehicles},
+ booktitle = {Proc. of the 46th IEEE Conference on Decision and Control},
+ year = {2007},
+ pages = {1398-1403},
+ owner = {matthias},
+ timestamp = {2011.05.11}
+}
+
+@BOOK{Schaft2000,
+ title = {An Introduction to Hybrid Dynamical Systems},
+ publisher = {Springer},
+ year = {2000},
+ author = {A. van der Schaft AND Schumacher, H.},
+ file = {#F#},
+ isbn = {1852332336}
+}
+
+@BOOK{Schavemaker2008,
+ title = {Electrical Power System Essentials},
+ publisher = {Wiley},
+ year = {2008},
+ author = {P. Schavemaker and L. {van der Sluis}},
+ owner = {matthias},
+ timestamp = {2012.02.01}
+}
+
+@ARTICLE{Scheding1999,
+ author = {S. Scheding and G.~Dissanayake and E.~M. Nebot and H. {Durrant-Whyte}},
+ title = {An Experiment in Autonomous Navigation of an Underground Mining Vehicle},
+ journal = {IEEE Transactions on Robotics and Automation},
+ year = {1999},
+ volume = {15},
+ pages = {85-95},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.11.05}
+}
+
+@MISC{Schiehlen2015,
+ author = {U. Schiehlen},
+ title = {Formally Correct Vehicle Prediction on Road Networks},
+ howpublished = {Bachelor thesis, Technische Universit\"at M\"unchen},
+ year = {2015},
+ owner = {matthias},
+ school = {Technische Universit\"at M\"unchen},
+ timestamp = {2016.05.19}
+}
+
+@ARTICLE{Schlaepfer1972,
+ author = {F.~M. Schlaepfer and F.~C. Schweppe},
+ title = {Continuous-Time State Estimation Under Disturbances Bounded by Convex
+ Sets},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {1972},
+ volume = {17},
+ pages = {197--205},
+ number = {2},
+ owner = {althoff},
+ timestamp = {2009.04.06}
+}
+
+@INPROCEEDINGS{Schmaltz2008,
+ author = {J. Schmaltz and J. Tretmans},
+ title = {On Conformance Testing for Timed Systems},
+ booktitle = {Proc. of the 6th International Conference on Formal Modelling and
+ Analysis of Timed Systems},
+ year = {2008},
+ pages = {250-264},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@INPROCEEDINGS{Schmid2010,
+ author = {M.~R. Schmid and M. Maehlisch and J. Dickmann and H.-J. Wuensche},
+ title = {Dynamic Level of Detail {3D} Occupancy Grids for Automotive Use},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2010},
+ pages = {269 - 274},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Schmidt2006,
+ author = {C. Schmidt and F. Oechsle and W. Branz},
+ title = {Research on Trajectory Planning in Emergency Situations with Multiple
+ Objects},
+ booktitle = {Proc. of the IEEE Intelligent Transportation Systems Conference},
+ year = {2006},
+ pages = {988-992},
+ owner = {althoff},
+ timestamp = {2008.08.21}
+}
+
+@INPROCEEDINGS{Schofield2008,
+ author = {B. Schofield and T. H{\"a}gglund},
+ title = {Optimal Control Allocation in Vehicle Dynamics Control for Rollover
+ Mitigation},
+ booktitle = {American Control Conference},
+ year = {2008},
+ pages = {3231-3236},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@BOOK{Schroeder2003,
+ title = {Modelling, State Observation and Diagnosis of Quantised Systems},
+ publisher = {Springer},
+ year = {2003},
+ author = {J. Schr{\"o}der},
+ owner = {althoff},
+ timestamp = {2008.07.02}
+}
+
+@INPROCEEDINGS{Schupp2015,
+ author = {S. Schupp and E. {\'A}brah{\'a}m and X. Chen and I. {Ben Makhlouf}
+ and G. Frehse and S. Sankaranarayanan and S. Kowalewski},
+ title = {Current Challenges in the Verification of Hybrid Systems},
+ booktitle = {Proc. of the Fifth Workshop on Design, Modeling and Evaluation of
+ Cyber Physical Systems},
+ year = {2015},
+ pages = {8-24},
+ owner = {matthias},
+ timestamp = {2016.02.02}
+}
+
+@INPROCEEDINGS{Schwoon2005,
+ author = {S. Schwoon and J. Esparza},
+ title = {A Note on On-the-Fly Verification Algorithms},
+ booktitle = {Proc. of the International Conference on Tools and Algorithms for
+ the Construction and Analysis of Systems},
+ year = {2005},
+ pages = {174-190},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@PHDTHESIS{Schuetze2004,
+ author = {Sch{\"u}tze, O.},
+ title = {Set Oriented Methods for Global Optimization},
+ school = {Fakult{\"a}t f{\"u}r Elektrotechnik, Informatik und Mathematik, Universit{\"a}t
+ Paderborn},
+ year = {2004}
+}
+
+@ARTICLE{Scott2013,
+ author = {J.~K. Scott and P.~I. Barton},
+ title = {Convex and Concave Relaxations for the Parametric Solutions of Semi-explicit
+ Index-One Differential-Algebraic Equations},
+ journal = {Journal of Optimization Theory and Applications},
+ year = {2013},
+ volume = {156},
+ pages = {617-649},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.04}
+}
+
+@ARTICLE{Scott2013b,
+ author = {J.~K. Scott and P.~I. Barton},
+ title = {Bounds on the Reachable Sets of Nonlinear Control Systems},
+ journal = {Automatica},
+ year = {2013},
+ volume = {49},
+ pages = {93-100},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.05.07}
+}
+
+@ARTICLE{Scott2010,
+ author = {J.~K. Scott and P.~I. Barton},
+ title = {Tight, Efficient Bounds on the Solutions of Chemical Kinetics Models},
+ journal = {Computers and Chemical Engineering},
+ year = {2010},
+ volume = {34},
+ pages = {717-731},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2012.08.16}
+}
+
+@ARTICLE{Sedghisigarchi2004,
+ author = {K. Sedghisigarchi and A. Feliachi},
+ title = {Dynamic and Transient Analysis of Power Distribution Systems With
+ Fuel Cells--Part I: Fuel-Cell Dynamic Model},
+ journal = {IEEE Transactions on Energy Conversion},
+ year = {2004},
+ volume = {19},
+ pages = {423-428},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@INBOOK{Segel1974,
+ chapter = {Tire Traction on Dry, Uncontaminated Surfaces},
+ pages = {65-98},
+ title = {The Physics of Tire Traction},
+ publisher = {Springer},
+ year = {1974},
+ author = {L. Segel},
+ owner = {matthias},
+ timestamp = {2016.01.13}
+}
+
+@INPROCEEDINGS{Seki1999,
+ author = {Seki, Y. AND Ohya, J. AND Miyoshi, M. },
+ title = {Collision avoidance system for vehicles applying model predictivecontrol
+ theory},
+ booktitle = {Proc. of the International Conference on Intelligent Transportation
+ Systems},
+ year = {1999},
+ pages = {453--458},
+ file = {#F#}
+}
+
+@ARTICLE{Sekizawa2007,
+ author = {S. Sekizawa and S. Inagaki and T. Suzuki and S. Hayakawa and N. Tsuchida
+ and T. Tsuda and H. Fujinami},
+ title = {Modeling and Recognition of Driving Behavior Based on Stochastic
+ Switched {ARX} Model},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2007},
+ volume = {8},
+ pages = {593-606},
+ owner = {althoff},
+ timestamp = {2009.03.23}
+}
+
+@MISC{SB-1298,
+ author = {California State Senate},
+ title = {SB-1298 Vehicles: autonomous vehicles: safety and performance requirements.},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@INPROCEEDINGS{Setiawan2009,
+ author = {J.~D. Setiawan and M. Safarudin and A. Singh},
+ title = {Modeling, Simulation and Validation of 14 DOF Full Vehicle Model},
+ booktitle = {Proc. of the International Conference on Instrumentation, Communications,
+ Information Technology, and Biomedical Engineering.},
+ year = {2009},
+ pages = {1-6},
+ owner = {matthias},
+ timestamp = {2013.11.07}
+}
+
+@ARTICLE{Shampine1999,
+ author = {L.~F. Shampine and M.~W. Reichelt and J.~A. Kierzenka},
+ title = {Solving Index-1 {DAEs} in {MATLAB} and {Simulink}},
+ journal = {SIAM Review},
+ year = {1999},
+ volume = {41},
+ pages = {538-552},
+ owner = {matthias},
+ timestamp = {2012.03.07}
+}
+
+@ARTICLE{Shaw1994,
+ author = {Shaw, S.~W. AND Pierre, C.},
+ title = {Normal Modes of Vibration for Non-Linear Continuous Systems},
+ journal = {Journal of Sound and Vibration},
+ year = {1994},
+ volume = {169},
+ pages = {319--347},
+ number = {3},
+ file = {#F#}
+}
+
+@ARTICLE{Shaw1991,
+ author = {Shaw, S.~W. AND Pierre, C.},
+ title = {Non-Linear Normal Modes and Invariant Manifolds},
+ journal = {Journal of Sound and Vibration},
+ year = {1991},
+ volume = {150},
+ pages = {170--173},
+ number = {1},
+ file = {#F#}
+}
+
+@MASTERSTHESIS{Shevchenko2007,
+ author = {I. Shevchenko},
+ title = {{W}egpunktbasierte {T}rajektorienplanung kognitiver {F}ahrzeuge},
+ school = {TU M{\"u}nchen},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@ARTICLE{Shiller1991,
+ author = {Z. Shiller and Y.-R. Gwo},
+ title = {Dynamic Motion Planning of Autonomous Vehicles},
+ journal = {IEEE Transactions on Robotics and Automation},
+ year = {1991},
+ volume = {7},
+ pages = {241 - 249},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2017.01.16}
+}
+
+@ARTICLE{Shim2015,
+ author = {Shim, Inwook and Choi, Jongwon and Shin, Seunghak and Oh, Tae-Hyun
+ and Lee, Unghui and Ahn, Byungtae and Choi, Dong-Geol and Shim, David
+ Hyunchul and Kweon, In So},
+ title = {An Autonomous Driving System for Unknown Environments Using a Unified
+ Map},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2015},
+ volume = {16},
+ pages = {1999 - 2013},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2016.03.21}
+}
+
+@ARTICLE{Shladover1991,
+ author = {S.~E. Shladover and C.~A. Desoer and J.~K. Hedrick and M. Tomizuka
+ and J. Walrand and W.-B. Zhang and D.~H. McMahon and H. Peng and
+ S. Sheikholeslam and N. McKeown},
+ title = {Automated vehicle control developments in the {PATH} program},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {1991},
+ volume = {40},
+ pages = {114-130},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@ARTICLE{Shu2005,
+ author = {J. Shu and W. Xue and W. Zheng},
+ title = {A Parallel Transient Stability Simulation for Power Systems},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2005},
+ volume = {20},
+ pages = {1709-1717},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2012.03.23}
+}
+
+@ARTICLE{Sidje1998,
+ author = {R.~B. Sidje},
+ title = {Expokit: A Software Package for Computing Matrix Exponentials},
+ journal = {ACM Transactions on Mathematical Software},
+ year = {1998},
+ volume = {24},
+ pages = {130-156},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.12.01}
+}
+
+@INPROCEEDINGS{Silva2001,
+ author = {B.~I. Silva and O. Stursberg and B.~H. Krogh and S. Engell},
+ title = {An Assessment of the Current Status of Algorithmic Approaches to
+ the Verification of Hybrid Systems},
+ booktitle = {Proc. of the 40th IEEE Conference on Decision and Control},
+ year = {2001},
+ pages = {2867-2874},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Singh2010,
+ author = {A. Singh and P. Li},
+ title = {On Behavioral Model Equivalence Checking for Large Analog/Mixed Signal
+ Systems},
+ booktitle = {Proc. of IEEE/ACM Int. Conf. on Computer-Aided Design (ICCAD)},
+ year = {2010},
+ pages = {55-61},
+ date = {November},
+ owner = {matthias},
+ timestamp = {2011.03.09}
+}
+
+@INPROCEEDINGS{Slootweg2002,
+ author = {J.~G. Slootweg and W.~L. Kling},
+ title = {Impacts of Distributed Generation on Power System Transient Stability},
+ booktitle = {Proc. of the IEEE Power Engineering Society Summer Meeting},
+ year = {2002},
+ pages = {862-867},
+ owner = {matthias},
+ timestamp = {2013.03.18}
+}
+
+@BOOK{Smirnov2002,
+ title = {Introduction to the Theory of Differential Inclusions},
+ publisher = {American Mathematical Society},
+ year = {2002},
+ author = {G.~V. Smirnov},
+ owner = {matthias},
+ timestamp = {2012.11.28}
+}
+
+@ARTICLE{Smith2000,
+ author = {D. Smith AND R. Benton AND J. Starkey},
+ title = {Nonlinear-gain-optimised controller development and evaluation for
+ automated emergency vehicle steering},
+ journal = {International Journal of Vehicle Design},
+ year = {2000},
+ volume = {24},
+ pages = {79-99},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@BOOK{Smith2008,
+ title = {Monotone Dynamical Systems: An Introduction to the Theory of Competitive
+ and Cooperative Systems},
+ publisher = {American Mathematical Society},
+ year = {2008},
+ author = {H.~L. Smith},
+ owner = {matthias},
+ timestamp = {2011.03.28}
+}
+
+@ARTICLE{Smith1995,
+ author = {H.~L. Smith},
+ title = {Monotone dynamical systems: An introduction to the theory of competitive
+ and cooperative systems},
+ journal = {Mathematical Surveys and Monographs},
+ year = {1995},
+ volume = {41},
+ owner = {matthias},
+ timestamp = {2011.03.28}
+}
+
+@TECHREPORT{Snider2009,
+ author = {J. Snider},
+ title = {Automatic Steering Methods for Autonomous Automobile Path Tracking},
+ institution = {Robotics Institute, Carnegie Mellon University},
+ year = {2009},
+ number = {CMU-RI-TR-09-08},
+ owner = {matthias},
+ timestamp = {2012.08.09}
+}
+
+@BOOK{Stark1994,
+ title = {Probability, Random Processes, and Estimation Theory for Engineers},
+ publisher = {Prentice Hall},
+ year = {1994},
+ author = {H. Stark and J.~W. Woods},
+ owner = {althoff},
+ timestamp = {2007.04.04}
+}
+
+@INPROCEEDINGS{Steinhorst2012,
+ author = {S. Steinhorst and L. Hedrich},
+ title = {Equivalence Checking of Nonlinear Analog Circuits for Hierarchical
+ AMS System Verification},
+ booktitle = {Proc. of 20th Int. Conference on VLSI and System-on-Chip},
+ year = {2012},
+ pages = {135-140},
+ owner = {matthias},
+ timestamp = {2014.06.30}
+}
+
+@INPROCEEDINGS{Steinhorst2012b,
+ author = {S. Steinhorst and L. Hedrich},
+ title = {Analog Assertion-Based Verification on Partial State Space Representations
+ using {ASL}},
+ booktitle = {Proc. of Forum on Specification and Design Languages},
+ year = {2012},
+ pages = {98 - 104},
+ owner = {matthias},
+ timestamp = {2015.01.22}
+}
+
+@ARTICLE{Steinhorst2010,
+ author = {S. Steinhorst and L. Hedrich},
+ title = {Advanced Methods for Equivalence Checking of Analog Circuits with
+ Strong Nonlinearities},
+ journal = {Formal Methods in System Design},
+ year = {2010},
+ volume = {36},
+ pages = {131-147},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2011.03.09}
+}
+
+@INPROCEEDINGS{Stiller2007,
+ author = {C. Stiller and G. F{\"a}rber and S. Kammel},
+ title = {Cooperative Cognitive Automobiles},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {215-220},
+ owner = {althoff},
+ timestamp = {2008.03.10}
+}
+
+@ARTICLE{Stilwella2002,
+ author = {D.~J. Stilwella and W.~J. Rughb},
+ title = {Stability and L2 Gain Properties of LPV Systems},
+ journal = {Automatica},
+ year = {2002},
+ volume = {38},
+ pages = {1601-1606},
+ owner = {matthias},
+ timestamp = {2010.06.07}
+}
+
+@BOOK{Stursberg2000,
+ title = {Analyse gesteuerter verfahrenstechnischer Prozesse durch Diskretisierung},
+ publisher = {Shaker Verlag},
+ year = {2000},
+ author = {Stursberg, O.},
+ file = {#F#},
+ isbn = {3826583132}
+}
+
+@INPROCEEDINGS{Stursberg1999,
+ author = {O. Stursberg and S. Engell and S. Kowalewski},
+ title = {Timed Approximations of Hybrid Processes for Controller Verification},
+ booktitle = {Proc. of the 14th IFAC World Congress},
+ year = {1999},
+ pages = {73-78},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@ARTICLE{Stursberg2004,
+ author = {Stursberg, O. AND Fehnker, A. AND Han, Z. AND Krogh, B.~H.},
+ title = {Verification of a Cruise Control System using Counterexample-Guided
+ Search},
+ journal = {Control Engineering Practice},
+ year = {2004},
+ volume = {12/10},
+ pages = {1269--1278},
+ file = {#F#}
+}
+
+@INPROCEEDINGS{Stursberg2003b,
+ author = {O. Stursberg and A. Fehnker and Z. Han and B.~H. Krogh},
+ title = {Specification-Guided Analysis of Hybrid Systems Using a Hierarchy
+ of Validation Methods},
+ booktitle = {Proc. of the 1st IFAC Conference on Analysis and Design of Hybrid
+ Systems},
+ year = {2003},
+ pages = {289-295},
+ owner = {althoff},
+ timestamp = {2009.12.08}
+}
+
+@INPROCEEDINGS{Stursberg2000c,
+ author = {O. Stursberg and S. Kowalewski},
+ title = {{Analysis of Controlled Hybrid Processing Systems based on Approximation
+ by Timed Automata using Interval Arithmetics}},
+ booktitle = {IEEE Mediterranean Conf. on Control and Automation},
+ year = {2000},
+ pages = {TA-1-3},
+ owner = {althoff},
+ timestamp = {2008.03.05}
+}
+
+@ARTICLE{Stursberg2000b,
+ author = {Stursberg, O. AND Kowalewski, S. AND Engell, S.},
+ title = {On the Generation of Timed Discrete Approximations for Continuous
+ Systems},
+ journal = {Mathematical and Computer Models of Dynamical Systems},
+ year = {2000},
+ volume = {6},
+ pages = {51--70}
+}
+
+@ARTICLE{Stursberg2000d,
+ author = {O. Stursberg and S. Kowalewski and S. Engell},
+ title = {On the Generation of Timed Discrete Approximations for Continuous
+ Systems},
+ journal = {Mathematical and Computer Models of Dynamical Systems},
+ year = {2000},
+ volume = {6},
+ pages = {51-70},
+ owner = {althoff},
+ timestamp = {2009.12.04}
+}
+
+@INPROCEEDINGS{Stursberg2003,
+ author = {O. Stursberg AND B.~H. Krogh},
+ title = {Efficient Representation and Computation of Reachable Sets for Hybrid
+ Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2003},
+ series = {LNCS 2623},
+ pages = {482--497},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@ARTICLE{Sumpter2000,
+ author = {N. Sumpter and A.~J. Bulpitt},
+ title = {Learning Spatio-Temporal Patterns for Predicting Object Behaviour},
+ journal = {Image and Vision Computing},
+ year = {2000},
+ volume = {18},
+ pages = {679-704},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@ARTICLE{Sun2002,
+ author = {Z. Sun and S.~S. Ge and T.~H. Lee},
+ title = {Controllability and Reachability Criteria for Switched Linear Systems},
+ journal = {Automatica},
+ year = {2002},
+ volume = {38},
+ pages = {775-786},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@ARTICLE{Sussmann1972,
+ author = {H.~J. Sussmann},
+ title = {Controllability of Nonlinear Systems},
+ journal = {Journal of Differential Equations},
+ year = {1972},
+ volume = {12},
+ pages = {95-116},
+ owner = {matthias},
+ timestamp = {2016.06.30}
+}
+
+@INPROCEEDINGS{Susuki2008,
+ author = {Y. Susuki and T. Sakiyama and T. Ochi and T. Uemura and T. Hikihara},
+ title = {Verifying Fault Release Control of Power System via Hybrid System
+ Reachability},
+ booktitle = {Proc. of the 40th North American Power Symposium},
+ year = {2008},
+ owner = {matthias},
+ timestamp = {2012.02.21}
+}
+
+@ARTICLE{Sztipanovits2012,
+ author = {J. Sztipanovits and X. Koutsoukos and G. Karsai and N. Kottenstette
+ and P. Antsaklis and V. Gupta and B. Goodwine and J. Baras and S.
+ Wang},
+ title = {Toward a Science of Cyber-Physical System Integration},
+ journal = {Proceedings of the IEEE},
+ year = {2012},
+ volume = {100},
+ pages = {29-44},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@TECHREPORT{Sztipanovits2013,
+ author = {J. Sztipanovits and S. Ying and I. Cohen and D. Corman and J. Davis
+ and H. Khurana and P.~J. Mosterman and V. Prasad and L. Stormo},
+ title = {Strategic {R\&D} Opportunities for 21st Century Cyber-Physical Systems},
+ institution = {National Institute of Standards and Technology (NIST)},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Taeubig2012,
+ author = {H. T\"aubig and U. Frese and C. Hertzberg and C. L\"uth and S. Mohr
+ and E. Vorobev and D. Walter},
+ title = {Guaranteeing functional safety: design for provability and computer-aided
+ verification},
+ journal = {Autonomous Robots},
+ year = {2012},
+ volume = {32},
+ pages = {303-331},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@ARTICLE{Tabuada2006,
+ author = {P. Tabuada and G.~J. Pappas},
+ title = {Linear Time Logic Control of Discrete-Time Linear Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2006},
+ volume = {51},
+ pages = {1862-1877},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2015.09.23}
+}
+
+@INPROCEEDINGS{Takano2008,
+ author = {W. Takano and A. Matsushita and K. Iwao and Y. Nakamura},
+ title = {Recognition of Human Driving Behaviors based on Stochastic Symbolization
+ of Time Series Signal},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2008},
+ pages = {167--172},
+ owner = {althoff},
+ timestamp = {2009.03.24}
+}
+
+@INPROCEEDINGS{Tamke2011,
+ author = {A. Tamke and T. Dang and G. Breuel},
+ title = {A Flexible Method for Criticality Assessment in Driver Assistance
+ Systems},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2011},
+ pages = {697-702},
+ owner = {matthias},
+ timestamp = {2015.11.26}
+}
+
+@CONFERENCE{Tan2004,
+ author = {L. Tan and J. Kim and O. Sokolsky and I. Lee},
+ title = {Model-Based Testing and Monitoring for Hybrid Embedded Systems},
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+ year = {2004},
+ pages = {487-492},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
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+ author = {G. Tanzmeister and M. Friedl and D. Wollherr and M. Buss},
+ title = {Efficient Evaluation of Collisions and Costs on Grid Maps for Autonomous
+ Vehicle Motion Planning},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2014},
+ volume = {15},
+ pages = {2249-2260},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@ARTICLE{Taoka1989,
+ author = {G.~T. Taoka},
+ title = {Brake Reaction Times of Unalerted Drivers},
+ journal = {ITE journal},
+ year = {1989},
+ pages = {19-21},
+ owner = {matthias},
+ timestamp = {2016.01.15}
+}
+
+@MISC{Tassey2002,
+ author = {G. Tassey},
+ title = {The Economic Impacts of Inadequate Infrastructure for Software Testing},
+ howpublished = {National Institute of Standards and Technology},
+ year = {2002},
+ owner = {matthias},
+ timestamp = {2014.01.13}
+}
+
+@BOOK{Tempo2004,
+ title = {Randomized Algorithms for Analysis and Control of Uncertain Systems},
+ publisher = {Springer},
+ year = {2004},
+ author = {R. Tempo and G. Calafiore and F. Dabbene},
+ owner = {althoff},
+ timestamp = {2009.02.06}
+}
+
+@INPROCEEDINGS{Thiele2000,
+ author = {L. Thiele and S. Chakraborty and M. Naedele},
+ title = {Real-Time Calculus for Scheduling Hard Real-Time Systems},
+ booktitle = {Proc. of Circuits and Systems},
+ year = {2000},
+ pages = {101-104},
+ owner = {matthias},
+ timestamp = {2016.07.19}
+}
+
+@MISC{Thompson2015,
+ author = {H. Thompson and R. Paulen and M. Reniers and C. Sonntag and S. Engell},
+ title = {Analysis of the State-of-the-Art and Future Challenges in Cyber-Physical
+ Systems of Systems},
+ howpublished = {Deliverable of EU project CPSoS},
+ year = {2015},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Thompson1968,
+ author = {Thompson, J.~M.~T. AND Walker, A.~C.},
+ title = {The Nonlinear Pertubation Analysis of Discrete Structural Systems},
+ journal = {International Journal of Solids and Structures},
+ year = {1968},
+ volume = {4},
+ pages = {757--768},
+ file = {#F#}
+}
+
+@INBOOK{Thrun2002,
+ chapter = {Robotic Mapping: A Survey},
+ pages = {1-35},
+ title = {Exploring Artificial Intelligence in the New Millennium},
+ publisher = {Morgan Kaufmann},
+ year = {2002},
+ editor = {G. Lakemeyer and B. Nebel},
+ author = {S. Thrun},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Thuy2009,
+ author = {M. Thuy and F. Puente Le{\'o}n},
+ title = {Non-Linear, Shape Independent Object Tracking based on {2D} Lidar
+ Data},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {532-537},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@INPROCEEDINGS{Tiwari2002,
+ author = {Tiwari,A. AND Khanna, G.},
+ title = {Series of Abstractions for Hybrid Automata},
+ booktitle = {Lecture Notes in Computer Science, Hybrid Systems: Computation and
+ Control},
+ year = {2002},
+ volume = {2289},
+ pages = {465--478},
+ publisher = {Springer},
+ file = {#F#}
+}
+
+@ARTICLE{Tiwary2008,
+ author = {H.~R. Tiwary},
+ title = {On the Hardness of Computing Intersection, Union and {Minkowski}
+ Sum of Polytopes},
+ journal = {Discrete and Computational Geometry},
+ year = {2008},
+ volume = {40},
+ pages = {469-479},
+ owner = {matthias},
+ timestamp = {2010.06.22}
+}
+
+@ARTICLE{Johansen2010,
+ author = {J. Tj{\o}nn{\aa}s and T.~A. Johansen},
+ title = {Stabilization of Automotive Vehicles Using Active Steering and Adaptive
+ Brake Control Allocation},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2010},
+ volume = {18},
+ pages = {545-558},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@ARTICLE{Tjonnas2010,
+ author = {Johannes Tj{\o}nn{\aa}s and T.~A. Johansen},
+ title = {Stabilization of Automotive Vehicles Using Active Steering and Adaptive
+ Brake Control Allocation},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2010},
+ volume = {18},
+ pages = {545-558},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.27}
+}
+
+@PHDTHESIS{Toledo2003,
+ author = {T. Toledo},
+ title = {Integrated Driving Behavior Modeling},
+ school = {Massachusetts Institute of Technology},
+ year = {2003},
+ owner = {althoff},
+ timestamp = {2007.12.02}
+}
+
+@ARTICLE{Toledo-Moreo2009,
+ author = {R. {Toledo-Moreo} and D.B{\'e}taille and F. Peyret and J. Laneurit},
+ title = {Fusing GNSS, Dead-Reckoning, and Enhanced Maps for Road Vehicle Lane-Level
+ Navigation},
+ journal = {IEEE Journal of Selected Topics in Signal Processing},
+ year = {2009},
+ volume = {3},
+ pages = {798-809},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2013.07.17}
+}
+
+@ARTICLE{Tomas-Gabarron2013,
+ author = {J.-B. Tomas-Gabarron and E. Egea-Lopez and J. Garcia-Haro},
+ title = {Vehicular Trajectory Optimization for Cooperative Collision Avoidance
+ at High Speeds},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2013},
+ volume = {14},
+ pages = {1930-1941},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2017.01.17}
+}
+
+@ARTICLE{Tomlin2000,
+ author = {C. Tomlin and J. Lygeros and S. Sastry},
+ title = {A Game Theoretic Approach to Controller Design for Hybrid Systems},
+ journal = {Proceedings of the IEEE},
+ year = {2000},
+ volume = {88},
+ pages = {949-970},
+ number = {7},
+ owner = {matthias},
+ timestamp = {2016.07.05}
+}
+
+@ARTICLE{Tomlin2003,
+ author = {Tomlin, C. AND Mitchell, I. AND Bayen, A. AND Oishi, M.},
+ title = {Computational Techniques for the Verification and Control of Hybrid
+ Systems},
+ journal = {Proceedings of the IEEE},
+ year = {2003},
+ volume = {91},
+ pages = {986-1001},
+ number = {7},
+ booktitle = {Proceedings of the IEEE},
+ file = {#F#}
+}
+
+@ARTICLE{Tomlin2001,
+ author = {C. Tomlin and I. Mitchell and R. Ghosh},
+ title = {Safety Verification of Conflict Resolution Maneuvers},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2001},
+ volume = {2},
+ pages = {110-120},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@BOOK{Tong1990,
+ title = {The Multivariate Normal Distribution},
+ publisher = {Springer},
+ year = {1990},
+ author = {Y.L.~Tong},
+ owner = {althoff},
+ timestamp = {2007.08.21}
+}
+
+@MISC{BDR43-1109,
+ author = {Nevada Committee on Transportation},
+ title = {Assembly Bill No. 511},
+ year = {2011},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@MASTERSTHESIS{Traugott2004,
+ author = {Traugott, J.},
+ title = {Intrinsic Dynamic Analysis and Control Design of Integrally Actuated
+ Helicopter Blades},
+ school = {Technische Universit{\"a}t M{\"u}nchen},
+ year = {2004},
+ month = {November},
+ file = {#F#}
+}
+
+@PHDTHESIS{Tretmans1992,
+ author = {J. Tretmans},
+ title = {A Formal Approach to Conformance Testing},
+ school = {Universiteit Twente},
+ year = {1992},
+ owner = {matthias},
+ timestamp = {2015.10.29}
+}
+
+@ARTICLE{Tripakis2005,
+ author = {S. Tripakis and S. Yovine and A. Bouajjani},
+ title = {Checking Timed {B{\"u}chi} Automata Emptiness Efficiently},
+ journal = {Formal Methods in System Design},
+ year = {2005},
+ volume = {26},
+ pages = {267-292},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2015.03.13}
+}
+
+@INPROCEEDINGS{Tronci1998,
+ author = {E. Tronci},
+ title = {Automatic Synthesis of Controllers from Formal Specifications},
+ booktitle = {Proc. of the 2nd International Conference on Formal Engineering Methods},
+ year = {1998},
+ pages = {134-143},
+ owner = {matthias},
+ timestamp = {2015.11.03}
+}
+
+@ARTICLE{Trudnowski2004,
+ author = {D.~J. Trudnowski and A. Gentile and J.~M. Khan and E.~M. Petritz},
+ title = {Fixed-Speed Wind-Generator and Wind-Park Modeling for Transient Stability
+ Studies},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2004},
+ volume = {19},
+ pages = {1911-1917},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@BOOK{Tyldesley1975,
+ title = {An introduction to tensor analysis for engineers and applied scientists},
+ publisher = {Longman Group Limited},
+ year = {1975},
+ author = {Tyldesley, J.~R.},
+ file = {#F#},
+ isbn = {0 582 44354.7}
+}
+
+@INPROCEEDINGS{Tondel2005,
+ author = {P. T{\o}ndel and T.~A. Johansen},
+ title = {Control Allocation for Yaw Stabilization in Automotive Vehicles using
+ Multiparametric Nonlinear Programming},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2005},
+ pages = {453-458},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@ARTICLE{Ugalde-Loo2013,
+ author = {C.~E. {Ugalde-Loo} and J.~B. Ekanayake and N. Jenkins},
+ title = {State-Space Modeling of Wind Turbine Generators for Power System
+ Studies},
+ journal = {IEEE Transactions on Industry Applications},
+ year = {2013},
+ volume = {49},
+ pages = {223-232},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.03.19}
+}
+
+@INPROCEEDINGS{Ulbrich2011,
+ author = {S. Ulbrich and D. Kappler and T. Asfour and N. Vahrenkamp and A.
+ Bierbaum and M. Przybylski and R. Dillmann},
+ title = {The {OpenGRASP} Benchmarking Suite: An Environment for the Comparative
+ Analysis of Grasping and Dexterous Manipulation},
+ booktitle = {Proc. of IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2011},
+ pages = {1761-1767},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@INPROCEEDINGS{Ulrich2000,
+ author = {I. Ulrich and J. Borenstein},
+ title = {VFH*: Local Obstacle Avoidance with Look-Ahead Verification},
+ booktitle = {In Proc. of the International Conference on Robotics and Automation},
+ year = {2000},
+ pages = {2505-2511},
+ owner = {althoff},
+ timestamp = {2007.03.28}
+}
+
+@ARTICLE{Ulusoy2014,
+ author = {A. Ulusoy and C. Belta},
+ title = {Receding Horizon Temporal Logic Control in Dynamic Environments},
+ journal = {International Journal of Robotics Research},
+ year = {2014},
+ volume = {33},
+ pages = {1593-1607},
+ number = {12},
+ owner = {matthias},
+ timestamp = {2015.09.23}
+}
+
+@MISC{PowerSystemArchive,
+ author = {{University of Washington}},
+ title = {Power Systems Test Case Archive},
+ howpublished = {\url{http://www.ee.washington.edu/research/pstca/}},
+ institution = {University of Washington},
+ organization = {University of Washington},
+ owner = {matthias},
+ timestamp = {2012.02.23}
+}
+
+@INPROCEEDINGS{Vacek2007,
+ author = {S. Vacek and T. Gindele and J.~M. Z{\"o}llner and R. Dillmann},
+ title = {Using Case-Based Reasoning for Autonomous Vehicle Guidance},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2007},
+ pages = {4271-4276},
+ owner = {althoff},
+ timestamp = {2010.01.04}
+}
+
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+ title = {{VHDL-A}: A Future Standard for Analog and Mixed Digital-Analog Description
+ and Simulation},
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+ pages = {39-44},
+ owner = {matthias},
+ timestamp = {2015.03.26}
+}
+
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+ author = {Ardalan Vahidi and Azim Eskandarian},
+ title = {Research Advances in Intelligent Collision Avoidance and Adaptive
+ Cruise Control},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2003},
+ volume = {4},
+ pages = {143-153},
+ owner = {althoff},
+ timestamp = {2008.01.02}
+}
+
+@ARTICLE{Vanholme2013,
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+ title = {Highly Automated Driving on Highways Based on Legal Safety},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2013},
+ volume = {14},
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+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@INPROCEEDINGS{Vardi1986,
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+ pages = {322-331},
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+ timestamp = {2016.10.14}
+}
+
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+ title = {Incremental Learning of Statistical Motion Patterns With Growing
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+ year = {2009},
+ volume = {10},
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+ owner = {althoff},
+ timestamp = {2009.10.07}
+}
+
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+ title = {Optimal velocity profile generation for given acceleration limits:
+ theoretical analysis},
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+ year = {2005},
+ pages = {1478 - 1483},
+ owner = {althoff},
+ timestamp = {2008.08.12}
+}
+
+@ARTICLE{Vendittelli1999,
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+ pages = {678-691},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@INPROCEEDINGS{Villalobos2008,
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+ title = {Urban Traffic Control Problem: a Game Theory Approach},
+ booktitle = {Proc. of the 17th IFAC World Congress},
+ year = {2008},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@ARTICLE{VillegasPico2014,
+ author = {H.~N. {Villegas Pico} and D.~C. Aliprantis},
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+ Fully-Rated Converters Using Reachability Analysis},
+ journal = {IEEE Transactions on Energy Conversion},
+ year = {2014},
+ volume = {29},
+ pages = {392-405},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2014.09.26}
+}
+
+@INPROCEEDINGS{VillegasPico2013,
+ author = {H.~N. {Villegas Pico} and D.~C. Aliprantis and E.~C. Hoff},
+ title = {Reachability Analysis of Power System Frequency Dynamics with New
+ High-Capacity {HVAC} and {HVDC} Transmission Lines},
+ booktitle = {Proc. of the IREP Bulk Power System Dynamics and Control Symposium},
+ year = {2013},
+ owner = {matthias},
+ timestamp = {2013.07.03}
+}
+
+@ARTICLE{Visintini2006,
+ author = {A.~L. Visintini and W. Glover and J. Lygeros and J. Maciejowski},
+ title = {{Monte Carlo} Optimization for Conflict Resolution in Air Traffic
+ Control},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2006},
+ volume = {7},
+ pages = {470-482},
+ owner = {althoff},
+ timestamp = {2009.12.12}
+}
+
+@ARTICLE{Vivien2004,
+ author = {F. Vivien and N. Wicker},
+ title = {Minimal Enclosing Parallelepiped in {3D}},
+ journal = {Computational Geometry: Theory and Applications},
+ year = {2004},
+ volume = {29},
+ pages = {177-190},
+ owner = {althoff},
+ timestamp = {2009.02.16}
+}
+
+@ARTICLE{Vogel2003,
+ author = {K. Vogel},
+ title = {A Comparison of Headway and Time to Collision as Safety Indicators},
+ journal = {Accident Analysis \& Prevention},
+ year = {2003},
+ volume = {35},
+ pages = {427-433},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{Vorndran2010,
+ author = {I. Vorndran},
+ title = {{Unfallstatistik -- Verkehrsmittel im Risikovergleich}},
+ journal = {Wirtschaft und Statistik. Wiesbaden: Statist. Bundesamt},
+ year = {2010},
+ volume = {12},
+ pages = {1083-1088},
+ owner = {matthias},
+ timestamp = {2014.09.25}
+}
+
+@INPROCEEDINGS{Wahle2001,
+ author = {J. Wahle and M. Schreckenberg},
+ title = {A Multi-Agent System for On-Line Simulations based on Real-World
+ Traffic Data},
+ booktitle = {Proc. of the 34th Conference on System Sciences},
+ year = {2001},
+ owner = {althoff},
+ timestamp = {2007.03.29}
+}
+
+@ARTICLE{Walker1969,
+ author = {Walker, A.~C},
+ title = {A Nonlinear Finite Element Analysis of Shallow Circular Arches},
+ journal = {International Journal of Solids and Structures},
+ year = {1969},
+ volume = {5},
+ pages = {97--107},
+ month = {February},
+ file = {#F#}
+}
+
+@INCOLLECTION{Wallman2001,
+ author = {C.-G. Wallman and H. {\AA}str{\"o}m},
+ title = {Friction Measurement Methods and the Correlation Between Road Friction
+ and Traffic Safety},
+ booktitle = {VTI meddelande},
+ publisher = {Swedish National Road and Transport Research Institute},
+ year = {2001},
+ owner = {matthias},
+ timestamp = {2016.01.15}
+}
+
+@ARTICLE{Walter2008,
+ author = {Walter, D. and Little, S. and Myers, C. and Seegmiller, N. and Yoneda,
+ T.},
+ title = {Verification of Analog/Mixed-Signal Circuits Using Symbolic Methods},
+ journal = {IEEE Transactions on Computer-Aided Design of Integrated Circuits
+ and Systems},
+ year = {2008},
+ volume = {27},
+ pages = {2223 -2235},
+ number = {12},
+ doi = {10.1109/TCAD.2008.2006159},
+ issn = {0278-0070},
+ keywords = {analog/mixed-signal circuits;binary decision diagrams;model checker;satisfiability
+ modulo theory solver;symbolic methods;symbolic model checking;Petri
+ nets;binary decision diagrams;circuit analysis computing;formal verification;hardware
+ description languages;mixed analogue-digital integrated circuits;},
+ owner = {matthias},
+ timestamp = {2015.01.13}
+}
+
+@INPROCEEDINGS{Wang2011,
+ author = {J.-H. Wang and M. Song},
+ title = {Assessing Drivers' Tailgating Behavior and the Effect of Advisory
+ Signs in Mitigating Tailgating},
+ booktitle = {Proc. of the Sixth International Driving Symposium on Human Factors
+ in Driver Assessment, Training and Vehicle Design},
+ year = {2011},
+ pages = {583-589},
+ owner = {matthias},
+ timestamp = {2016.01.12}
+}
+
+@INPROCEEDINGS{Wang2001,
+ author = {J.-Y. Wang AND M. Tomizuka},
+ title = {Reachability Analysis of Hybrid Lateral Control Problem for Automated
+ Heavy-Duty Vehicles},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2001},
+ pages = {1-6},
+ owner = {althoff},
+ timestamp = {2009.08.31}
+}
+
+@INPROCEEDINGS{Wang2009,
+ author = {Z. Wang and M.~H. Zaki and S. Tahar},
+ title = {Statistical Runtime Verification of Analog and Mixed Signal Designs},
+ booktitle = {Proc. of the International Conference on Signals, Circuits and Systems},
+ year = {2009},
+ owner = {matthias},
+ timestamp = {2014.02.06}
+}
+
+@ARTICLE{Wangdee2006,
+ author = {W. Wangdee and R. Billinton},
+ title = {Bulk Electric System Well-Being Analysis Using Sequential {Monte
+ Carlo} Simulation},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2006},
+ volume = {21},
+ pages = {188-193},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@ARTICLE{Watterson2007,
+ author = {C. Watterson and D. Heffernan},
+ title = {Runtime Verification and Monitoring of Embedded Systems},
+ journal = {Software, IET},
+ year = {2007},
+ volume = {1},
+ pages = {172 - 179},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2013.12.03}
+}
+
+@INPROCEEDINGS{Wei2009,
+ author = {J. Wei and J.~M. Dolan},
+ title = {A Robust Autonomous Freeway Driving Algorithm},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {1015-1020},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@INPROCEEDINGS{Wei2010,
+ author = {J. Wei and J.~M. Dolan and B. Litkouhi},
+ title = {A Prediction and Cost Function-Based Algorithm for Robust Autonomous
+ Freeway Driving},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2010},
+ pages = {512-517},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@INPROCEEDINGS{Wei2014,
+ author = {Junqing Wei and Jarrod M Snider and Tianyu Gu and John M Dolan and
+ Bakhtiar Litkouhi},
+ title = {A Behavioral Planning Framework for Autonomous Driving },
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2014},
+ month = {June},
+ owner = {matthias},
+ timestamp = {2016.01.11}
+}
+
+@INPROCEEDINGS{Wei2013,
+ author = {J. Wei and J.~M. Snider and J. Kim and J.~M. Dolan and R. Rajkumar
+ and B. Litkouhi},
+ title = {Towards a Viable Autonomous Driving Research Platform},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2013},
+ pages = {763-770},
+ owner = {matthias},
+ timestamp = {2013.12.04}
+}
+
+@PHDTHESIS{Weibel2007,
+ author = {C. Weibel},
+ title = {Minkowski Sums of Polytopes: Combinatorics and Computation},
+ school = {{\'E}cole Polytechnique F{\'e}d{\'e}rale de Lausanne},
+ year = {2007},
+ owner = {althoff},
+ timestamp = {2009.12.02}
+}
+
+@INPROCEEDINGS{Weiherer2013,
+ author = {T. Weiherer and S. Bouzouraa and U. Hofmann},
+ title = {An Interval Based Representation of Occupancy Information for Driver
+ Assistance Systems},
+ booktitle = {Proc. of the 16th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2013},
+ pages = {21 - 27},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@TECHREPORT{Weinzierl2000,
+ author = {S. Weinzierl},
+ title = {Introduction to {Monte Carlo} Methods},
+ institution = {NIKHEF Theory Group Kruislaan 409, 1098 SJ Amsterdam, The Netherlands},
+ year = {2000},
+ owner = {althoff},
+ timestamp = {2009.10.27}
+}
+
+@PHDTHESIS{Werling2010,
+ author = {M. Werling},
+ title = {{Ein neues Konzept für die Trajektoriengenerierung und -stabilisierung
+ in zeitkritischen Verkehrsszenarien}},
+ school = {Karlsruher Instituts f{\"u}r Technologie},
+ year = {2010},
+ owner = {matthias},
+ timestamp = {2016.05.06}
+}
+
+@INPROCEEDINGS{Werling2008,
+ author = {M. Werling and M. Goebl and O. Pink and C. Stiller},
+ title = {A Hardware and Software Framework for Cognitive Automobiles.},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1080-1085},
+ owner = {althoff},
+ timestamp = {2009.11.25}
+}
+
+@INPROCEEDINGS{Werling2008b,
+ author = {M. Werling and L. Gr{\"o}ll},
+ title = {Low-level Controllers Realizing High-level Decisions in an Autonomous
+ Vehicle},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1113-1118},
+ owner = {althoff},
+ timestamp = {2009.12.23}
+}
+
+@ARTICLE{Werling2012,
+ author = {M. Werling and S. Kammel and J. Ziegler and L. Gr{\"o}ll},
+ title = {Optimal Trajectories for Time-Critical Street Scenarios using Discretized
+ Terminal Manifolds},
+ journal = {International Journal of Robotic Research},
+ year = {2012},
+ volume = {31},
+ pages = {346-359},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@INPROCEEDINGS{Werling2010b,
+ author = {M. Werling and J. Ziegler and S. Kammel and S. Thrun},
+ title = {Optimal Trajectory Generation for Dynamic Street Scenarios in a Fren{\'e}t
+ Frame},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2010},
+ pages = {987-993},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@INPROCEEDINGS{Wilson2001,
+ author = {B.~H. Wilson},
+ title = {How Soon to Brake and How Hard to Brake: Unified Analysis of the
+ Envelope of Opportunity for Rear-End Collision Warnings},
+ booktitle = {Proc. of the International Technical Conference on Enhanced Safety
+ of Vehicles},
+ year = {2001},
+ owner = {matthias},
+ timestamp = {2016.05.16}
+}
+
+@ARTICLE{Wolf2009,
+ author = {W. Wolf},
+ title = {Cyber-physical Systems},
+ journal = {Computer},
+ year = {2009},
+ volume = {42},
+ pages = {88-89},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2014.01.23}
+}
+
+@ARTICLE{Wolper1997,
+ author = {P. Wolper},
+ title = {The meaning of "formal": from weak to strong formal methods},
+ journal = {International Journal on Software Tools for Technology Transfer},
+ year = {1997},
+ volume = {1},
+ pages = {6-8},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.10.14}
+}
+
+@ARTICLE{Wongpiromsarn2012,
+ author = {T. Wongpiromsarn and U. Topcu and R.~M. Murray},
+ title = {Receding Horizon Temporal Logic Planning},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2012},
+ volume = {57},
+ pages = {2817-2830},
+ number = {11},
+ owner = {matthias},
+ timestamp = {2013.11.08}
+}
+
+@PHDTHESIS{Wortelboer1994,
+ author = {P. Wortelboer},
+ title = {Frequency-Weighted Balanced Reduction of Closed-Loop Mechanical Servo-Systems},
+ school = {Technical University Delft},
+ year = {1994},
+ owner = {matthias},
+ timestamp = {2016.11.28}
+}
+
+@ARTICLE{Wu2012,
+ author = {A. Wu and J.~P. How},
+ title = {Guaranteed infinite horizon avoidance of unpredictable, dynamically
+ constrained obstacles},
+ journal = {Autonomous Robots},
+ year = {2012},
+ volume = {32},
+ pages = {227-242},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2012.07.17}
+}
+
+@ARTICLE{Xie2011,
+ author = {L. Xie and P.~M.~S Carvalho and L.~A.~F.~M. Ferreira and J. Liu and
+ B.~H. Krogh and N. Popli and M.~D. Ilic},
+ title = {Wind Integration in Power Systems: Operational Challenges and Possible
+ Solutions},
+ journal = {Proceedings of the IEEE},
+ year = {2011},
+ volume = {99},
+ pages = {214-232},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2013.06.24}
+}
+
+@ARTICLE{Xu2012,
+ author = {G. Xu and L. Liu and Y. Ou and Z. Song},
+ title = {Dynamic Modeling of Driver Control Strategy of Lane-Change Behavior
+ and Trajectory Planning for Collision Prediction},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2012},
+ volume = {13},
+ pages = {1138-1155},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.03.06}
+}
+
+@INPROCEEDINGS{Xu2009,
+ author = {T. Xu and T. Tang and C.i Gao and B. Cai},
+ title = {Logic Verification of Collision Avoidance System in Train Control
+ Systems},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {918-923},
+ owner = {althoff},
+ timestamp = {2010.01.13}
+}
+
+@INPROCEEDINGS{Xu2012b,
+ author = {W. Xu and J. Wei and J.~M. Dolan and H. Zhao and H. Zha},
+ title = {A Real-Time Motion Planner with Trajectory Optimization for Autonomous
+ Vehicles},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2012},
+ pages = {2061-2067},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@INPROCEEDINGS{Xuan2006,
+ author = {Y. Xuan and B. Coifman},
+ title = {Lane Change Maneuver Detection from Probe Vehicle {DGPS} Data},
+ booktitle = {Proc. of the IEEE Intelligent Transportation Systems Conference},
+ year = {2006},
+ pages = {624-629},
+ owner = {althoff},
+ timestamp = {2009.10.13}
+}
+
+@INPROCEEDINGS{Yan2010,
+ author = {C. Yan and M. Greenstreet and J. Eisinger},
+ title = {Formal Verification of an Arbiter Circuit},
+ booktitle = {Proc. of the IEEE Symposium on Asynchronous Circuits and Systems},
+ year = {2010},
+ pages = {165-175},
+ owner = {matthias},
+ timestamp = {2012.07.29}
+}
+
+@INPROCEEDINGS{Yan2010a,
+ author = {C. Yan and M. Greenstreet and J. Eisinger},
+ title = {Formal Verification of an Arbiter Circuit},
+ booktitle = {Proc. of the 16th IEEE International Symposium on Asynchronous Circuits
+ and Systems},
+ year = {2010},
+ pages = {165-175},
+ owner = {matthias},
+ timestamp = {2011.11.11}
+}
+
+@INPROCEEDINGS{Yan2011,
+ author = {C. Yan and F. Ouchet and L. Fesquet and K. Morin-Allory},
+ title = {Formal Verification of C-element Circuits},
+ booktitle = {Proc. of the 17th IEEE International Symposium on Asynchronous Circuits
+ and Systems},
+ year = {2011},
+ pages = {55-64},
+ owner = {matthias},
+ timestamp = {2011.11.11}
+}
+
+@PHDTHESIS{Yang2010,
+ author = {H.-H. Yang},
+ title = {Driver Models to Emulate Human Anomalous Behaviors Leading to Vehicle
+ Lateral and Longitudinal Accidents},
+ school = {University of Michigan},
+ year = {2010},
+ owner = {matthias},
+ timestamp = {2010.11.27}
+}
+
+@ARTICLE{Yao2009,
+ author = {H. Yao and H. Zheng},
+ title = {Automated Interface Refinement for Compositional Verification},
+ journal = {IEEE Transactions on Computer-Aided Design of Integrated Circuits
+ and Systems},
+ year = {2009},
+ volume = {28},
+ pages = {433-446},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2014.02.17}
+}
+
+@ARTICLE{Yim2012,
+ author = {S. Yim and J. Choi and K. Yi},
+ title = {Coordinated Control of Hybrid 4WD Vehicles for Enhanced Maneuverability
+ and Lateral Stability},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2012},
+ volume = {61},
+ pages = {1946-1950},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.26}
+}
+
+@ARTICLE{Yim2004,
+ author = {Y. U. Yim and S.-Y. Oh},
+ title = {Modeling of Vehicle Dynamics From Real Vehicle Measurements Using
+ a Neural Network With Two-Stage Hybrid Learning for Accurate Long-Term
+ Prediction},
+ journal = {IEEE Transactions on Vehicular Technology},
+ year = {2004},
+ volume = {53},
+ pages = {1076-1084},
+ owner = {althoff},
+ timestamp = {2008.04.17}
+}
+
+@ARTICLE{Yin2013,
+ author = {L. Yin and Y. Deng and P. Li},
+ title = {Simulation-Assisted Formal Verification of Nonlinear Mixed-Signal
+ Circuits With Bayesian Inference Guidance},
+ journal = {IEEE Transactions on Computer-Aided Design of Integrated Circuits
+ and Systems},
+ year = {2013},
+ volume = {32},
+ pages = {977-990},
+ number = {7},
+ owner = {matthias},
+ timestamp = {2014.06.30}
+}
+
+@ARTICLE{Young2007,
+ author = {M.~S. Young and N.~A. Stanton},
+ title = {Back to the Future: Brake Reaction Times for Manual and Automated
+ Vehicles},
+ journal = {Ergonomics},
+ year = {2007},
+ volume = {50},
+ pages = {46-58},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2016.01.15}
+}
+
+@ARTICLE{Yu2004,
+ author = {X. Yu and C. Singh},
+ title = {A Practical Approach for Integrated Power System Vulnerability Analysis
+ With Protection Failures},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2004},
+ volume = {19},
+ pages = {1811-1820},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2013.03.20}
+}
+
+@ARTICLE{Yusof1993,
+ author = {S.~B. Yusof and G.~J. Rogers and R.~T.~H. Alden},
+ title = {Slow Coherency Based Network Partitioning Including Load Buses},
+ journal = {IEEE Transactions on Power Systems},
+ year = {1993},
+ volume = {8},
+ pages = {1375-1382},
+ number = {3},
+ owner = {matthias},
+ timestamp = {2013.07.04}
+}
+
+@ARTICLE{Yuster2005,
+ author = {R. Yuster and U. Zwick},
+ title = {Fast sparse matrix multiplication},
+ journal = {ACM Transactions on Algorithms},
+ year = {2005},
+ volume = {1},
+ pages = {2-13},
+ owner = {althoff},
+ timestamp = {2009.10.01}
+}
+
+@ARTICLE{Zaki2008,
+ author = {M.~H. Zaki and S. Tahar and G. Bois},
+ title = {Formal Verification of Analog and Mixed Signal Designs: A survey},
+ journal = {Microelectronics Journal},
+ year = {2008},
+ volume = {39},
+ pages = {1395 - 1404},
+ number = {12},
+ abstract = { Analog and mixed signal (AMS) designs are an important part of embedded
+ systems that link digital designs to the analog world. Due to challenges
+ associated with its verification process, AMS designs require a considerable
+ portion of the total design cycle time. In contrast to digital designs,
+ the verification of AMS systems is a challenging task that requires
+ lots of expertise and deep understanding of their behavior. Researchers
+ started lately studying the applicability of formal methods for the
+ verification of AMS systems as a way to tackle the limitations of
+ conventional verification methods like simulation. This paper surveys
+ research activities in the formal verification of AMS designs as
+ well as compares the different proposed approaches.},
+ doi = {DOI: 10.1016/j.mejo.2008.05.013},
+ issn = {0026-2692},
+ keywords = {Formal verification},
+ owner = {matthias},
+ timestamp = {2015.01.13},
+ url = {http://www.sciencedirect.com/science/article/B6V44-4T08065-2/2/e20a57edfd48af66b942b48dffaec67d}
+}
+
+@TECHREPORT{Zemke1999,
+ author = {J.~Zemke},
+ title = {b4m --- {A} free interval arithmetic toolbox for {Matlab} based on
+ {BIAS}},
+ institution = {Arbeitsbereich Technische Informatik III 4-04, Technische Universit{\"{a}}t
+ Hamburg-Harburg},
+ year = {1999},
+ owner = {althoff},
+ timestamp = {2007.09.10}
+}
+
+@INPROCEEDINGS{Zhang2005,
+ author = {F. Zhang and J. Li and Q. Zhao},
+ title = {Single-Lane Traffic Simulation with Multi-Agent System},
+ booktitle = {Proc. of the Conference on Intelligent Transportation Systems},
+ year = {2005},
+ owner = {althoff},
+ timestamp = {2007.03.29}
+}
+
+@INPROCEEDINGS{Zhang2006,
+ author = {W.-B. Zhang and S.~E. Shladover},
+ title = {PATH Innovative Research on ITS Technologies and Methodologies for
+ Multimodal Transportation Solutions},
+ booktitle = {Proc. of the IEEE Intelligent Transportation Systems Conference},
+ year = {2006},
+ pages = {23-29},
+ owner = {althoff},
+ timestamp = {2008.03.10}
+}
+
+@INPROCEEDINGS{Zhang2012,
+ author = {Y. Zhang and S. Sankaranarayanan and F. Somenzi},
+ title = {Piecewise Linear Modeling of Nonlinear Devices for Formal verification
+ of Analog Circuits},
+ booktitle = {Formal Methods in Computer-Aided Design},
+ year = {2012},
+ pages = {196-203},
+ owner = {matthias},
+ timestamp = {2015.02.06}
+}
+
+@INPROCEEDINGS{Zheng2009,
+ author = {G. Zheng and A. Girard},
+ title = {Bounded and Unbounded Safety Verification using Bisimulation Metrics},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2009},
+ volume = {5469},
+ series = {LNCS},
+ pages = {426-440},
+ publisher = {Springer},
+ owner = {matthias},
+ timestamp = {2011.10.03}
+}
+
+@INPROCEEDINGS{Zheng2014,
+ author = {Yang Zheng and Jianqiang Wang and Xiaofei Li and Chenfei Yu and Kenji
+ Kodaka and Keqiang Li},
+ title = {Driving Risk Assessment using Cluster Analysis based on Naturalistic
+ Driving Data},
+ booktitle = {Proc. of the 17th IEEE International Conference on Intelligent Transportation
+ Systems},
+ year = {2014},
+ pages = {2584-2589},
+ owner = {matthias},
+ timestamp = {2017.01.02}
+}
+
+@BOOK{Zhuang1999,
+ title = {Qualitative Modeling for Observer-Based Fault Diagnosis},
+ publisher = {VDI Fortschrittberichte},
+ year = {1999},
+ author = {Zhuang, Z.},
+ file = {#F#},
+ isbn = {3183805081}
+}
+
+@BOOK{Ziegler1995,
+ title = {Lectures on Polytopes},
+ publisher = {Springer},
+ year = {1995},
+ author = {Ziegler, G.~M.},
+ series = {Graduate Texts in Mathematics},
+ file = {#F#},
+ isbn = {0387943293}
+}
+
+@INPROCEEDINGS{Ziegler2014b,
+ author = {J. Ziegler and P. Bender and T. Dang and C. Stiller},
+ title = {Trajectory Planning for {BERTHA} -- a Local, Continuous Method},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2014},
+ pages = {450-457},
+ owner = {matthias},
+ timestamp = {2017.01.03}
+}
+
+@ARTICLE{Ziegler2014,
+ author = {J. Ziegler and P. Bender and M. Schreiber and H. Lategahn and T.
+ Strauss and C. Stiller and T. Dang and U. Franke and N. Appenrodt
+ and C.~G. Keller and E. Kaus and R.~G.Herrtwich and C. Rabe and D.
+ Pfeiffer and F. Lindner and F. Stein and F. Erbs and M. Enzweiler
+ and C. Kn{\"o}ppel and J. Hipp and M. Haueis and M. Trepte and C.
+ Brenk and A. Tamke and M. Ghanaat and M. Braun and A. Joos and H.
+ Fritz and H. Mock and M. Hein and E. Zeeb},
+ title = {Making {Bertha} Drive -- An Autonomous Journey on a Historic Route},
+ journal = {IEEE Intelligent Transportation Systems Magazine},
+ year = {2014},
+ volume = {6},
+ pages = {8-20},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2014.12.22}
+}
+
+@INPROCEEDINGS{Ziegler2010,
+ author = {J. Ziegler and C. Stiller},
+ title = {Fast Collision Checking for Intelligent Vehicle Motion Planning},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2010},
+ pages = {518-522},
+ owner = {matthias},
+ timestamp = {2011.05.10}
+}
+
+@ARTICLE{Zou2003,
+ author = {Y. Zou and M.-H. Yin and H.-D. Chiang},
+ title = {Theoretical Foundation of the Controlling {UEP} Method for Direct
+ Transient-Stability Analysis of Network-Preserving Power System Models},
+ journal = {IEEE Transactions on Circuits and Systems I: Fundamental Theory and
+ Applications},
+ year = {2003},
+ volume = {50},
+ pages = {1324-1336},
+ number = {10},
+ owner = {matthias},
+ timestamp = {2013.04.22}
+}
+
+@ARTICLE{Zuliani2013,
+ author = {P. Zuliani and A. Platzer and E.~M. Clarke},
+ title = {Bayesian Statistical Model Checking with Application to {Simulink/Stateflow}
+ Verification.},
+ journal = {Formal Methods in System Design},
+ year = {2013},
+ volume = {43},
+ pages = {338-367},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2013.10.10}
+}
+
+@INPROCEEDINGS{Zupancic2008,
+ author = {B. Zupan\v{c}i\v{c} and R. Karba and M. {Atanasijevic-Kun{\'c}} and
+ J. Musi{\'c}},
+ title = {Continuous Systems Modelling Education -- Causal or Acausal Approach?},
+ booktitle = {Proc. of the 30th Int. Conf. on Information Technology Interfaces},
+ year = {2008},
+ pages = {803-808},
+ owner = {matthias},
+ timestamp = {2014.02.24}
+}
+
+@PROCEEDINGS{Pobil2006,
+ title = {Lecture Notes for IROS 2006 Workshop II (WS-2): Benchmarks in Robotics
+ Research},
+ year = {2006},
+ editor = {A.~P. {del Pobil}},
+ owner = {matthias},
+ timestamp = {2017.01.03},
+ url = {https://www.staff.science.uu.nl/~gerae101/pdf/benchmarks1.pdf}
+}
+
+@BOOK{Bennun1998,
+ title = {Law, Computer Science, and Artificial Intelligence},
+ publisher = {Intellect Ltd},
+ year = {1998},
+ editor = {M. Bennun and A. Narayanan},
+ owner = {matthias},
+ timestamp = {2015.03.25}
+}
+
+@BOOK{Buehler2008,
+ title = {Special Issue on the 2007 DARPA Urban Challenge, Part 1},
+ publisher = {Wiley},
+ year = {2008},
+ editor = {M. Buehler and K. Lagnemma and S. Singh},
+ volume = {25},
+ number = {8},
+ pages = {423 - 566},
+ series = {Journal of Field Robotics},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@BOOK{Buehler2008b,
+ title = {Special Issue on the 2007 DARPA Urban Challenge, Part 2},
+ publisher = {Wiley},
+ year = {2008},
+ editor = {M. Buehler and K. Lagnemma and S. Singh},
+ volume = {25},
+ number = {9},
+ pages = {567-724},
+ series = {Journal of Field Robotics},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@BOOK{Buehler2008c,
+ title = {Special Issue on the 2007 DARPA Urban Challenge, Part 3},
+ publisher = {Wiley},
+ year = {2008},
+ editor = {M. Buehler and K. Lagnemma and S. Singh},
+ volume = {25},
+ number = {10},
+ pages = {725-860},
+ series = {Journal of Field Robotics},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@BOOK{Grumberg2008,
+ title = {25 Years of Model Checking},
+ publisher = {Springer},
+ year = {2008},
+ editor = {O. Grumberg and H. Veith},
+ owner = {matthias},
+ timestamp = {2012.07.26}
+}
+
+@BOOK{Iagnemma2006,
+ title = {Special Issue on the DARPA Grand Challenge, Part 1},
+ publisher = {Wiley},
+ year = {2006},
+ editor = {K. Iagnemma and M. Buehler},
+ volume = {23},
+ number = {8},
+ pages = {461 - 652},
+ series = {Journal of Field Robotics},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@BOOK{Iagnemma2006b,
+ title = {Special Issue on the DARPA Grand Challenge, Part 2},
+ publisher = {Wiley},
+ year = {2006},
+ editor = {K. Iagnemma and M. Buehler},
+ volume = {23},
+ number = {9},
+ pages = {655 - 835},
+ series = {Journal of Field Robotics},
+ owner = {althoff},
+ timestamp = {2010.01.12}
+}
+
+@BOOK{Lunze2009,
+ title = {Handbook of Hybrid Systems Control},
+ publisher = {Cambridge University Press},
+ year = {2009},
+ editor = {J. Lunze and F. Lamnabhi-Lagarrigue},
+ owner = {matthias},
+ timestamp = {2011.12.29}
+}
+
+@BOOK{Lambert2010,
+ title = {Vienna Convention on Road Traffic},
+ publisher = {VDM Publishing},
+ year = {2010},
+ editor = {L.~M. Surhone and M.~T. Timpledon and S.~F. Marseken},
+ owner = {matthias},
+ timestamp = {2012.07.25}
+}
+
+@BOOK{Topp1998,
+ title = {Traffic Safety Work with Video-Processing},
+ publisher = {University Kaiserslautern, Transportation Department},
+ year = {1998},
+ editor = {H.~H. Topp},
+ volume = {43},
+ series = {Green Series},
+ owner = {matthias},
+ timestamp = {2015.07.20}
+}
+
+@ARTICLE{IEEEintervalArithmetic,
+ title = {{IEEE} Standard for Interval Arithmetic},
+ journal = {IEEE Std 1788-2015},
+ year = {2015},
+ pages = {1-97},
+ month = {June},
+ doi = {10.1109/IEEESTD.2015.7140721},
+ keywords = {IEEE standards;floating point arithmetic;programming languages;IEEE
+ 754 floating-point formats;IEEE Std 1788-2015;hardware language levels;interval
+ arithmetic operations;mathematical interval models;programming language
+ levels;Arithmetics;IEEE Standards;Interval arithmetic;arithmetic;computing;decoration;enclosure;hull;interval;operation;verified}
+}
+
+@MANUAL{Adams2011,
+ title = {Adams/Tire help},
+ organization = {MSC Software},
+ address = {2 MacArthur Place, Santa Ana, CA 92707},
+ month = {April},
+ year = {2011},
+ note = {Documentation ID: DOC9805},
+ owner = {matthias},
+ timestamp = {2011.09.06},
+ url = {http://simcompanion.mscsoftware.com/infocenter}
+}
+
+@MANUAL{Sun2001,
+ title = {C++ Interval Arithmetic Programming Reference},
+ organization = {Sun Microsystems, Inc.},
+ address = {901 San Antonio Road Palo Alto, CA 94303 U.S.A. 650-960-1300},
+ year = {2001},
+ owner = {matthias},
+ timestamp = {2016.02.03},
+ url = {https://docs.oracle.com/cd/E19059-01/fortec6u2/806-7998/806-7998.pdf}
+}
+
+@comment{jabref-meta: databaseType:biblatex;}
+
+@comment{jabref-meta: groupsversion:3;}
+
+@comment{jabref-meta: groupstree:
+0 AllEntriesGroup:;
+1 ExplicitGroup:Safety Assessment - Road Traffic\;0\;Abdel_Aty2006\;As
+o2008\;Barth2008\;Broadhurst2004\;Broadhurst2005\;Danielsson2007\;Doga
+n2004\;Eidehall2006\;Eidehall2008\;Hillenbrand2006\;Hu1999\;Lee2005\;V
+ahidi2003\;;
+1 ExplicitGroup:Safety Assessment - Air Traffic\;0\;Blom2006\;Hu2005\;
+;
+1 ExplicitGroup:Stochastic Reachability Analysis\;0\;Abate2007\;Baier1
+999\;Bujorianu2004\;Bujorianu2005\;Bujorianu2006\;Koutsoukos2006\;Lunz
+e2001\;Prajna2007\;Prandini2005\;Prandini2006\;Prandini2006b\;;
+1 ExplicitGroup:Reachability Analysis\;0\;Asarin2000\;Asarin2001\;Asar
+in2003\;Asarin2006\;Botchkarev2000\;Chutinan2003\;Clarke2003\;Dang1998
+\;Dang2000\;Dang2006\;Fehnker2004\;Frehse05\;Girard2005\;Girard2008\;H
+an2006\;Henzinger1998b\;Kurzhanski2000\;Lafferriere1999a\;Lafferriere1
+999b\;Mitchell2001\;Prajna2004\;Prajna2006\;Puri1995\;Stursberg2000b\;
+Stursberg2000c\;Stursberg2003\;Stursberg2004\;Tomlin2001\;Tomlin2003\;
+;
+1 ExplicitGroup:Hybrid Systems Modeling and Control\;0\;Buss2000\;Henz
+inger1998\;Henzinger2000\;Schaft2000\;;
+1 ExplicitGroup:Discrete Systems\;0\;;
+1 ExplicitGroup:Set Based Observers\;0\;Alamo2003\;Combastel2003\;;
+1 ExplicitGroup:Driver Prediction\;0\;Dagli2002\;Dagli2003\;Hu2006\;Li
+n2000\;McCall2007\;Polychronopoulos2007\;Sumpter2000\;;
+1 ExplicitGroup:Stochastic Systems\;0\;Beichelt1997\;Davis1984\;Evans\
+;Gardiner1983\;Kampen1981\;Kushner2000\;Oksendal2003\;Stark1994\;Tong1
+990\;;
+1 ExplicitGroup:Clothoids\;0\;Bergan1979\;Delingette1991\;Labakhua2006
+\;;
+1 ExplicitGroup:Systematic Simulation\;0\;Donze2007\;Esposito2004\;Jul
+ius2007\;Kapinski2003\;;
+1 ExplicitGroup:Traffic Simulation\;0\;Ehlert2001\;Kerner2004\;Lee2003
+\;Maroto2006\;Toledo2003\;Zhang2005\;;
+1 ExplicitGroup:Zonotopes\;0\;Fukuda2004\;Fukuda2004b\;Guibas2005\;Mon
+tgomery1989\;;
+1 ExplicitGroup:Autonomous Vehicles\;0\;Bartels2008\;Stiller2007\;Zhan
+g2006\;;
+1 ExplicitGroup:Interval Methods\;0\;Hansen2003\;Jaulin2006\;Zemke1999
+\;;
+1 ExplicitGroup:Road Traffic Safety\;0\;Heissing2003\;Maeder2003\;;
+1 ExplicitGroup:Path Planning\;0\;Berg2006\;Berg2007\;Brandt2007\;Hess
+e2007\;Laugier2007\;Petti2005\;Schmidt2006\;Seki1999\;Ulrich2000\;Vele
+nis2005\;;
+1 ExplicitGroup:Own Publications\;0\;;
+1 ExplicitGroup:Own Publications: Conferences\;0\;;
+}
+
diff --git a/documentation/althoff_own.bib b/documentation/althoff_own.bib
new file mode 100644
index 0000000000000000000000000000000000000000..06c36ef0b8dbdc8356551b91f0f3099b504c92e3
--- /dev/null
+++ b/documentation/althoff_own.bib
@@ -0,0 +1,1023 @@
+% This file was created with JabRef 2.7b.
+% Encoding: Cp1252
+
+@INPROCEEDINGS{Althoff2015b,
+ author = {D. Althoff and M. Althoff and S. Scherer},
+ title = {Online Safety Verification of Trajectories for Unmanned Flight with
+ Offline Computed Robust Invariant Sets},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2015},
+ pages = {3470-3477},
+ comment = {vCar},
+ owner = {matthias},
+ timestamp = {2015.06.29}
+}
+
+@INPROCEEDINGS{Althoff2010b,
+ author = {D. Althoff and M. Althoff and D. Wollherr and M. Buss},
+ title = {Probabilistic Collision State Checker for Crowded Environments},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2010},
+ pages = {1492-1498},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2010/althoff-2010-ICRA.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2010/althoff-2010-ICRA_talk.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2010.06.06}
+}
+
+@INPROCEEDINGS{Althoff2015a,
+ author = {M. Althoff},
+ title = {An Introduction to {CORA} 2015},
+ booktitle = {Proc. of the Workshop on Applied Verification for Continuous and
+ Hybrid Systems},
+ year = {2015},
+ pages = {120-151},
+ comment = {UnCoVerCPS},
+ owner = {matthias},
+ timestamp = {2015.03.20}
+}
+
+@MANUAL{Althoff2015c,
+ title = {CORA 2015},
+ author = {M. Althoff},
+ organization = {Technische Universit\"at M\"unchen},
+ year = {2015},
+ owner = {matthias},
+ timestamp = {2016.05.19}
+}
+
+@ELECTRONIC{Althoff2015d,
+ author = {M. Althoff},
+ year = {2015},
+ title = {On Computing the Minkowski Difference of Zonotopes},
+ howpublished = {arXiv:1512.02794},
+ url = {http://arxiv.org/abs/1512.02794},
+ comment = {UnCoVerCPS},
+ owner = {matthias},
+ timestamp = {2015.10.05}
+}
+
+@ARTICLE{Althoff2014c,
+ author = {M. Althoff},
+ title = {Formal and Compositional Analysis of Power Systems using Reachable
+ Sets},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2014},
+ volume = {29},
+ pages = {2270-2280},
+ number = {5},
+ owner = {matthias},
+ timestamp = {2014.03.04}
+}
+
+@INPROCEEDINGS{Althoff2013a,
+ author = {M. Althoff},
+ title = {Reachability Analysis of Nonlinear Systems using Conservative Polynomialization
+ and Non-Convex Sets},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2013},
+ pages = {173-182},
+ owner = {matthias},
+ timestamp = {2012.12.23}
+}
+
+@PHDTHESIS{Althoff2010a,
+ author = {M. Althoff},
+ title = {Reachability Analysis and its Application to the Safety Assessment
+ of Autonomous Cars},
+ school = {Technische Universit\"{a}t M\"{u}nchen},
+ year = {2010},
+ type = {Dissertation},
+ note = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20100715-963752-1-4},
+ filelinks = {[pdf]:media/New Volume/other/Jemdoc website/publications/2010/althoff-2010-thesis.pdf:PDF;
+ [defense talk]:media/New Volume/other/Jemdoc website/talks/2010/althoff-2010-thesis_talk.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2010.08.03}
+}
+
+@MASTERSTHESIS{Althoff2005,
+ author = {M. Althoff},
+ title = {Nonlinear Dynamics and Control of Integrally Actuated Helicopter
+ Blades},
+ school = {Technische Universit\"{a}t M\"{u}nchen},
+ year = {2005},
+ filelinks = {[pdf]:media/New Volume/other/Jemdoc website/publications/2005/althoff-2005-diplomaThesis.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2011.05.22}
+}
+
+@INPROCEEDINGS{Althoff2010c,
+ author = {M. Althoff and D. Althoff and D. Wollherr and M. Buss},
+ title = {Safety Verification of Autonomous Vehicles for Coordinated Evasive
+ Maneuvers},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2010},
+ pages = {1078-1083},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2010/althoff-2010-IV.pdf:PDF;
+ [poster]:media/New Volume/other/Jemdoc website/posters/2010/althoff-2010-IV_poster.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2010.06.06}
+}
+
+@INPROCEEDINGS{Althoff2012c,
+ author = {M. Althoff and M. Cvetkovi{\'c} and M. Ili{\'c}},
+ title = {Transient Stability Analysis by Reachable Set Computation},
+ booktitle = {Proc. of the IEEE PES Conference on Innovative Smart Grid Technologies
+ Europe},
+ year = {2012},
+ owner = {matthias},
+ timestamp = {2012.10.22}
+}
+
+@ARTICLE{Althoff2014b,
+ author = {M.~Althoff and J.~M.~Dolan},
+ title = {Online Verification of Automated Road Vehicles Using Reachability
+ Analysis},
+ journal = {IEEE Transactions on Robotics},
+ year = {2014},
+ volume = {30},
+ pages = {903-918},
+ number = {4},
+ comment = {vCar},
+ owner = {matthias},
+ timestamp = {2014.01.14}
+}
+
+@INPROCEEDINGS{Althoff2012b,
+ author = {M. Althoff and J.~M. Dolan},
+ title = {Reachability Computation of Low-Order Models for the Safety Verification
+ of High-Order Road Vehicle Models},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2012},
+ pages = {3559-3566},
+ owner = {matthias},
+ timestamp = {2012.03.28}
+}
+
+@INPROCEEDINGS{Althoff2011e,
+ author = {M. Althoff and J.~M. Dolan},
+ title = {Set-Based Computation of Vehicle Behaviors for the Online Verification
+ of Autonomous Vehicles},
+ booktitle = {Proc. of the 14th IEEE Conference on Intelligent Transportation Systems},
+ year = {2011},
+ pages = {1162-1167},
+ owner = {matthias},
+ timestamp = {2011.09.06}
+}
+
+@INPROCEEDINGS{Althoff2016c,
+ author = {M. Althoff and G. Frehse},
+ title = {Combining Zonotopes and Support Functions for Efficient Reachability
+ Analysis of Linear Systems},
+ booktitle = {Proc. of the 55th IEEE Conference on Decision and Control},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Althoff2016a,
+ author = {M. Althoff and D. Grebenyuk},
+ title = {Implementation of Interval Arithmetic in {CORA} 2016},
+ booktitle = {Proc. of the 3rd International Workshop on Applied Verification for
+ Continuous and Hybrid Systems},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.07.20}
+}
+
+@INPROCEEDINGS{Althoff2013d,
+ author = {M. Althoff and D. He{\ss} and F. Gambert},
+ title = {Road Occupancy Prediction of Traffic Participants},
+ booktitle = {Proc. of the 16th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2013},
+ pages = {99-105},
+ owner = {matthias},
+ timestamp = {2013.10.24}
+}
+
+@ARTICLE{Althoff2014a,
+ author = {M. Althoff and B.~H. Krogh},
+ title = {Reachability Analysis of Nonlinear Differential-Algebraic Systems},
+ journal = {IEEE Transactions on Automatic Control},
+ year = {2014},
+ volume = {59},
+ pages = {371-383},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2012.12.23}
+}
+
+@INPROCEEDINGS{Althoff2012a,
+ author = {M. Althoff and B.~H. Krogh},
+ title = {Avoiding Geometric Intersection Operations in Reachability Analysis
+ of Hybrid Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2012},
+ pages = {45-54},
+ owner = {matthias},
+ timestamp = {2011.12.24}
+}
+
+@INPROCEEDINGS{Althoff2011f,
+ author = {M. Althoff and B.~H. Krogh},
+ title = {Zonotope Bundles for the Efficient Computation of Reachable Sets},
+ booktitle = {Proc. of the 50th IEEE Conference on Decision and Control},
+ year = {2011},
+ pages = {6814-6821},
+ owner = {matthias},
+ timestamp = {2011.09.12}
+}
+
+@INBOOK{Althoff2011b,
+ chapter = {Analyzing Reachability of Linear Dynamic Systems with Parametric
+ Uncertainties},
+ pages = {69-94},
+ title = {Modeling, Design, and Simulation of Systems with Uncertainties},
+ publisher = {Springer},
+ year = {2011},
+ editor = {A. Rauh and E. Auer},
+ author = {M. Althoff and B.~H. Krogh and O. Stursberg},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2011/althoff-2011-MoDeSi.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2011.02.02}
+}
+
+@INPROCEEDINGS{Althoff2011a,
+ author = {M. Althoff and C. {Le Guernic} and B.~H. Krogh},
+ title = {Reachable Set Computation for Uncertain Time-Varying Linear Systems},
+ booktitle = {Hybrid Systems: Computation and Control},
+ year = {2011},
+ pages = {93-102},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2011/althoff-2011-HSCC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2011/althoff-2011-HSCC_talk.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2011.01.11}
+}
+
+@INPROCEEDINGS{Althoff2016b,
+ author = {M. Althoff and R. L{\"o}sch},
+ title = {Can Automated Road Vehicles Harmonize with Traffic Flow While Guaranteeing
+ A Safe Distance?},
+ booktitle = {Proc. of the 19th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@ARTICLE{Althoff2016d,
+ author = {M. Althoff and S. Magdici},
+ title = {Set-Based Prediction of Traffic Participants on Arbitrary Road Networks},
+ journal = {IEEE Transactions on Intelligent Vehicles},
+ year = {2016},
+ volume = {1},
+ pages = {187-202},
+ number = {2},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@ARTICLE{Althoff2011d,
+ author = {M. Althoff and A. Mergel},
+ title = {Comparison of {Markov} Chain Abstraction and {Monte Carlo} Simulation
+ for the Safety Assessment of Autonomous Cars},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2011},
+ volume = {12},
+ pages = {1237-1247},
+ number = {4},
+ owner = {matthias},
+ timestamp = {2011.05.22}
+}
+
+@ARTICLE{Althoff2011g,
+ author = {M. Althoff and M.~J. Patil and J.~P. Traugott},
+ title = {Nonlinear Modeling and Control Design of Active Helicopter Blades},
+ journal = {Journal of the American Helicopter Society},
+ year = {2012},
+ volume = {57},
+ pages = {1-11},
+ number = {1},
+ owner = {matthias},
+ timestamp = {2011.10.02}
+}
+
+@INPROCEEDINGS{Althoff2006a,
+ author = {M. Althoff and M.~J. Patil and J.~P. Traugott},
+ title = {Nonlinear Modeling and Control Design of Active Helicopter Blades},
+ booktitle = {Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics,
+ and Materials Conference},
+ year = {2006},
+ note = {AIAA Paper 2006-2040},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2006/althoff-2006-ASC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2006/althoff-2006-ASC_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.05.06}
+}
+
+@ARTICLE{Althoff2013c,
+ author = {M. Althoff and A. Rajhans and B.~H. Krogh and S. Yaldiz and X. Li
+ and L. Pileggi},
+ title = {Formal Verification of Phase-Locked Loops Using Reachability Analysis
+ and Continuization},
+ journal = {Communications of the ACM},
+ year = {2013},
+ volume = {56},
+ pages = {97-104},
+ number = {10},
+ owner = {matthias},
+ timestamp = {2012.10.22}
+}
+
+@INPROCEEDINGS{Althoff2011c,
+ author = {M. Althoff and A. Rajhans and B.~H. Krogh and S. Yaldiz and X. Li
+ and L. Pileggi},
+ title = {Formal Verification of Phase-Locked Loops Using Reachability Analysis
+ and Continuization},
+ booktitle = {Proc. of the Int. Conference on Computer Aided Design},
+ year = {2011},
+ pages = {659-666},
+ owner = {matthias},
+ timestamp = {2011.04.04}
+}
+
+@ARTICLE{Althoff2009b,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Computing Reachable Sets of Hybrid Systems Using a Combination of
+ Zonotopes and Polytopes},
+ journal = {Nonlinear Analysis: Hybrid Systems},
+ year = {2010},
+ volume = {4},
+ pages = {233-249},
+ number = {2},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2010/althoff-2010-nonAnalysis.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.01.12}
+}
+
+@ARTICLE{Althoff2009a,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Model-Based Probabilistic Collision Detection in Autonomous Driving},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2009},
+ volume = {10},
+ pages = {299 - 310},
+ number = {2},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2009/althoff-2009-ITSStrans.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.01.12}
+}
+
+@INPROCEEDINGS{Althoff2009d,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Safety Assessment for Stochastic Linear Systems using Enclosing Hulls
+ of Probability Density Functions},
+ booktitle = {Proc. of the European Control Conference},
+ year = {2009},
+ pages = {625-630},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2009/althoff-2009-ECC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2009/althoff-2009-ECC_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@INPROCEEDINGS{Althoff2009e,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous
+ Vehicles},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {893-900},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2009/althoff-2009-IV.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2009/althoff-2009-IV_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.02.18}
+}
+
+@INPROCEEDINGS{Althoff2008a,
+ author = {M. Althoff AND O. Stursberg AND M. Buss},
+ title = {Verification of Uncertain Embedded Systems by Computing Reachable
+ Sets based on Zonotopes},
+ booktitle = {Proc. of the 17th IFAC World Congress},
+ year = {2008},
+ pages = {5125-5130},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-IFAC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/althoff-2008-IFAC_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2007.10.09}
+}
+
+@INPROCEEDINGS{Althoff2008b,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Stochastic Reachable Sets of Interacting Traffic Participants},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1086-1092},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-IV.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/althoff-2008-IV_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.03.10}
+}
+
+@INPROCEEDINGS{Althoff2008c,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Reachability Analysis of Nonlinear Systems with Uncertain Parameters
+ using Conservative Linearization},
+ booktitle = {Proc. of the 47th IEEE Conference on Decision and Control},
+ year = {2008},
+ pages = {4042-4048},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-CDC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/althoff-2008-CDC_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.04.28}
+}
+
+@INPROCEEDINGS{Althoff2008d,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {{O}nline-{A}nalyse von {F}ahrstrategien kognitiver autonomer {F}ahrzeuge},
+ booktitle = {Proc. of Automatisierungssysteme, Assistenzsysteme und eingebettete
+ Systeme f\"ur Transportmittel (AAET)},
+ year = {2008},
+ pages = {314-330},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-AAET.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/althoff-2008-AAET_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.04.28}
+}
+
+@INPROCEEDINGS{Althoff2008e,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {{E}rreichbarkeitsanalyse von {V}erkehrsteilnehmern zur {V}erbesserung
+ von {F}ahrerassistenzsystemen},
+ booktitle = {Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz},
+ year = {2008},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-FAS.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/althoff-2008-FAS_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.04.28}
+}
+
+@ARTICLE{Althoff2008f,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {{S}icherheitsbewertung von {F}ahrstrategien kognitiver {A}utomobile},
+ journal = {at - Automatisierungstechnik},
+ year = {2008},
+ volume = {56},
+ pages = {653-661},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/althoff-2008-AT.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.07.09}
+}
+
+@INPROCEEDINGS{Althoff2007a,
+ author = {M. Althoff AND O. Stursberg AND M. Buss},
+ title = {Safety Assessment of Autonomous Cars using Verification Techniques},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2007},
+ pages = {4154-4159},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2007/althoff-2007-ACC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2007/althoff-2007-ACC_talk.pdf:PDF},
+ owner = {althoff}
+}
+
+@INPROCEEDINGS{Althoff2007b,
+ author = {M. Althoff and O. Stursberg and M. Buss},
+ title = {Online Verification of Cognitive Car Decisions},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2007},
+ pages = {728-733},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2007/althoff-2007-IV.pdf:PDF;
+ [poster]:media/New Volume/other/Jemdoc website/posters/2007/althoff-2007-IV_poster.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2007.06.26}
+}
+
+@INPROCEEDINGS{Althoff2007c,
+ author = {M.~Althoff and O.~Stursberg and M.~Buss},
+ title = {Reachability Analysis of Linear Systems with uncertain Parameters
+ and Inputs},
+ booktitle = {Proc. of the 46th IEEE Conference on Decision and Control},
+ year = {2007},
+ pages = {726-732},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2007/althoff-2007-CDC.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2007/althoff-2007-CDC_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2007.08.29}
+}
+
+@INPROCEEDINGS{El-Guindy2017a,
+ author = {A. El-Guindy and Y.~C. Chen and M. Althoff},
+ title = {Compositional Transient Stability Analysis of Power Systems via the
+ Computation of Reachable Sets},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@ARTICLE{El-Guindy2016,
+ author = {A. El-Guindy and D. Han and M. Althoff},
+ title = {Formal Analysis of Drum-Boiler Units to Maximize the Load-Following
+ Capabilities of Power Plants},
+ journal = {IEEE Transactions on Power Systems},
+ year = {2016},
+ note = {online available, not yet printed},
+ owner = {matthias},
+ timestamp = {2016.01.07}
+}
+
+@INPROCEEDINGS{Giusti2017,
+ author = {A. Giusti and M. Althoff},
+ title = {Efficient Computation of Interval-Arithmetic-Based Robust Controllers
+ for Rigid Robots},
+ booktitle = {Proc. of the First IEEE International Conference on Robotic Computing},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2017.01.04}
+}
+
+@ARTICLE{Giusti2017b,
+ author = {A. Giusti and M. Althoff},
+ title = {On-The-Fly Control Design of Modular Robot Manipulators},
+ journal = {IEEE Transactions on Control Systems Technology},
+ year = {2017},
+ volume = {x},
+ pages = {x},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Giusti2016a,
+ author = {A. Giusti and M. Althoff},
+ title = {Ultimate Robust Performance Control of Rigid Robot Manipulators Using
+ Interval Arithmetic},
+ booktitle = {Proc. of the American Control Conference},
+ year = {2016},
+ pages = {2995-3001},
+ owner = {matthias},
+ timestamp = {2016.03.02}
+}
+
+@INPROCEEDINGS{Giusti2015,
+ author = {A. Giusti and M. Althoff},
+ title = {Automatic Centralized Controller Design for Modular and Reconfigurable
+ Robot Manipulators},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2015},
+ pages = {3268-3275},
+ comment = {SMART-E},
+ owner = {matthias},
+ timestamp = {2015.06.29}
+}
+
+@INPROCEEDINGS{Giusti2017a,
+ author = {A. Giusti and J. Malzahn and N.~G. Tsagarakis and M. Althoff},
+ title = {Hybrid Inverse-Dynamics/Passivity-Based Control for Robots with Elastic
+ Joints},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Goebl2008,
+ author = {M. Goebl and M. Althoff and M. Buss and G. F\"arber and F. Hecker
+ and B. Hei{\ss}ing and S. Kraus and R. Nagel and F. Puente Le{\'o}n
+ and F. Rattei and M. Russ and M. Schweitzer and M. Thuy and C. Wang
+ and H.-J. W\"unsche},
+ title = {Design and Capabilities of the {Munich} Cognitive Automobile},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2008},
+ pages = {1101-1107},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/goebl-2008-IV.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@INPROCEEDINGS{Han2016a,
+ author = {D. Han and M. Althoff},
+ title = {Power Systems Transient Stability Analysis via Optimal Rational Lyapunov
+ Functions},
+ booktitle = {IEEE Power \& Energy Society General Meeting},
+ year = {2016},
+ note = {accepted},
+ owner = {matthias},
+ timestamp = {2016.03.02}
+}
+
+@INPROCEEDINGS{Han2015,
+ author = {D. Han and M. Althoff},
+ title = {Control Synthesis for Non-Polynomial Systems: A Domain of Attraction
+ Perspective},
+ booktitle = {Proc. of the 54th IEEE Conference on Decision and Control},
+ year = {2015},
+ pages = {1160-1167},
+ comment = {ROCS-Grid},
+ owner = {matthias},
+ timestamp = {2015.08.03}
+}
+
+@INPROCEEDINGS{Han2016c,
+ author = {D. Han and A. El-Guindy and M. Althoff},
+ title = {On Estimating the Robust Domain of Attraction for Uncertain Non-Polynomial
+ Systems: An LMI Approach},
+ booktitle = {Proc. of the 55th IEEE Conference on Decision and Control},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Han2016d,
+ author = {D. Han and A. El-Guindy and M. Althoff},
+ title = {Estimating the Domain of Attraction based on the Invariance Principle},
+ booktitle = {Proc. of the 55th IEEE Conference on Decision and Control},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Han2016b,
+ author = {D. Han and A. Rizaldi and A. El-Guindy and M. Althoff},
+ title = {On Enlarging the Backward Reachable Sets via Zonotopic Set Membership},
+ booktitle = {IEEE Multi-Conference on Systems and Control},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.04.18}
+}
+
+@INPROCEEDINGS{Hassan2017,
+ author = {H.~A. Hassan and E. Icer and K. El-Ayat and M. Althoff},
+ title = {Evolutionary Composition Synthesis of Modular Robots for a Given
+ Task},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Hess2014,
+ author = {D. He{\ss} and M. Althoff and T. Sattel},
+ title = {Formal Verification of Maneuver Automata for Parameterized Motion
+ Primitives},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2014},
+ pages = {1474-1481},
+ comment = {vCar},
+ owner = {matthias},
+ timestamp = {2014.07.17}
+}
+
+@INPROCEEDINGS{Hess2013,
+ author = {D. He{\ss} and M. Althoff and T. Sattel},
+ title = {Comparison of Trajectory Tracking Controllers for Emergency Situations},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2013},
+ pages = {163-170},
+ owner = {matthias},
+ timestamp = {2013.02.28}
+}
+
+@INPROCEEDINGS{Hess2013b,
+ author = {D. He{\ss} and M. Althoff and T. Sattel},
+ title = {Should Collision Avoidance Systems use Yaw Stabilization?},
+ booktitle = {Proc. of the 16th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2013},
+ pages = {2058-2062},
+ owner = {matthias},
+ timestamp = {2013.10.24}
+}
+
+@INPROCEEDINGS{Hess2016,
+ author = {D. He{\ss} and M. Woehrle and J. Oehlerking and A. Biewer and M.
+ Bottazzi and J. Sanchez and M. Althoff},
+ title = {The {UnCoVerCPS} Verification Approach to Cooperative Automated Driving},
+ booktitle = {Proc. of the 20th International Forum on Advanced Microsystems for
+ Automotive Applications},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.05.13}
+}
+
+@INPROCEEDINGS{Icer2016,
+ author = {E. Icer and M. Althoff},
+ title = {A Task-Driven Algorithm for Configuration Synthesis of Modular Robots},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.03.02}
+}
+
+@INPROCEEDINGS{Icer2016b,
+ author = {E. Icer and M. Althoff},
+ title = {Cost-Optimal Composition Synthesis for Modular Robots},
+ booktitle = {IEEE Multi-Conference on Systems and Control},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.04.18}
+}
+
+@INPROCEEDINGS{Kraus2009,
+ author = {S. Kraus and M. Althoff and B. Hei{\ss}ing and M. Buss},
+ title = {Cognition and Emotion in Autonomous Cars},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2009},
+ pages = {635-640},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2009/kraus-2009-IV.pdf:PDF;
+ [poster]:media/New Volume/other/Jemdoc website/posters/2009/kraus-2009-IV_poster.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.03.27}
+}
+
+@INPROCEEDINGS{Lee2015,
+ author = {H.-S.~L. Lee and M. Althoff and S. Hoelldampf and M. Olbrich and
+ E. Barke},
+ title = {Automated Generation of Hybrid System Models for Reachability Analysis
+ of Nonlinear Analog Circuits},
+ booktitle = {Proc. of the 20th Asia and South Pacific Design Automation Conference},
+ year = {2015},
+ pages = {725-730},
+ comment = {ROCS-Grid},
+ owner = {matthias},
+ timestamp = {2014.09.09}
+}
+
+@INPROCEEDINGS{Magdici2016,
+ author = {S. Magdici and M. Althoff},
+ title = {Fail-Safe Motion Planning of Autonomous Vehicles},
+ booktitle = {Proc. of the 19th International IEEE Conference on Intelligent Transportation
+ Systems},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Manzinger2017a,
+ author = {S. Manzinger and M. Althoff},
+ title = {Kooperative Bewegungsplanung autonomer Fahrzeuge unter Verwendung
+ von Man{\"o}ver-Templates},
+ booktitle = {Proc. of Automatisierungssysteme, Assistenzsysteme und eingebettete
+ Systeme f\"ur Transportmittel (AAET)},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Mesesan2015,
+ author = {G. Mesesan and E. Icer and M. Althoff},
+ title = {Hierarchical Genetic Path Planner for Highly Redundant Manipulators},
+ booktitle = {Proc. of the Workshop on Task Planning for Intelligent Robots in
+ Service and Manufacturing},
+ year = {2015},
+ comment = {SMART-E},
+ owner = {matthias},
+ timestamp = {2015.08.18}
+}
+
+@ARTICLE{Patil2011,
+ author = {M.~J. Patil and M. Althoff},
+ title = {Energy-consistent, {Galerkin} approach for the nonlinear dynamics
+ of beams using intrinsic equations},
+ journal = {Journal of Vibration and Control},
+ year = {2011},
+ volume = {17},
+ pages = {1748-1758},
+ number = {11},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2010/patil-2010-jvc.pdf:PDF},
+ owner = {matthias},
+ timestamp = {2011.02.14}
+}
+
+@INPROCEEDINGS{Patil2006,
+ author = {M.~J. Patil and M. Althoff},
+ title = {Energy-Consistent, {Galerkin} Approach for the Nonlinear Dynamics
+ of Beams Using Mixed, Intrinsic Equations},
+ booktitle = {Proc. of the 47th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics,
+ and Materials Conference},
+ year = {2006},
+ note = {AIAA Paper 2006-1737},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2006/patil-2006-AIAA.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2009.05.06}
+}
+
+@INPROCEEDINGS{Pek2017,
+ author = {C. Pek and M. Werling and M. Althoff},
+ title = {Evaluating Motion Safety of Self-driving Vehicles using the Point
+ of No Return},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Pereira2017a,
+ author = {A. Pereira and M. Althoff},
+ title = {Calculating Human Reachable Occupancy for Safe Robot Trajectory Planning},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2017},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@ARTICLE{Pereira2016a,
+ author = {A. Pereira and M. Althoff},
+ title = {Overapproximative, Real-Time Human Arm Occupancy Prediction for Human-Robot
+ Interaction},
+ journal = {IEEE Transactions on Robotics},
+ year = {2016},
+ comment = {SMART-E},
+ owner = {matthias},
+ timestamp = {2015.10.05}
+}
+
+@INPROCEEDINGS{Pereira2016b,
+ author = {A. Pereira and M. Althoff},
+ title = {Overapproximative Arm Occupancy Prediction for Human-Robot Interaction
+ Built from Archetypal Movements},
+ booktitle = {International Conference on Robotics and Automation},
+ year = {2016},
+ comment = {SMART-E, possibly UnCoVerCPS},
+ owner = {matthias},
+ timestamp = {2015.10.05}
+}
+
+@INPROCEEDINGS{Pereira2015,
+ author = {A. Pereira and M. Althoff},
+ title = {Safety Control of Robots under Computed Torque Control using Reachable
+ Sets},
+ booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
+ year = {2015},
+ pages = {331 - 338},
+ comment = {SMART-E},
+ owner = {matthias},
+ timestamp = {2015.02.05}
+}
+
+@INPROCEEDINGS{Rizaldi2015b,
+ author = {A. Rizaldi and M. Althoff},
+ title = {Formalising Traffic Rules for Accountability of Autonomous Vehicles},
+ booktitle = {Proc. of the 18th IEEE International Conference on Intelligent Transportation
+ Systems},
+ year = {2015},
+ pages = {1658 - 1665},
+ comment = {PUMA},
+ owner = {matthias},
+ timestamp = {2015.06.16}
+}
+
+@INPROCEEDINGS{Rizaldi2016a,
+ author = {A. Rizaldi and F. Immler and M. Althoff},
+ title = {A Formally Verified Checker of the Safe Distance Traffic Rules for
+ Autonomous Vehicles},
+ booktitle = {8th NASA Formal Methods Symposium},
+ year = {2016},
+ pages = {175-190},
+ owner = {matthias},
+ timestamp = {2016.04.11}
+}
+
+@INPROCEEDINGS{Rizaldi2015,
+ author = {A. Rizaldi and S. S{\"o}ntges and M. Althoff},
+ title = {On Time-Memory Trade-Off for Collision Detection},
+ booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium},
+ year = {2015},
+ pages = {1173 - 1180},
+ comment = {vCar, PUMA},
+ owner = {matthias},
+ timestamp = {2015.04.29}
+}
+
+@INPROCEEDINGS{Roehm2016b,
+ author = {H. Roehm and J. Oehlerking and T. Heinz and M. Althoff},
+ title = {{STL} Model Checking of Continuous and Hybrid Systems},
+ booktitle = {Proc. of the 14th International Symposium on Automated Technology
+ for Verification and Analysis},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.05.11}
+}
+
+@INPROCEEDINGS{Roehm2016,
+ author = {H. Roehm and J. Oehlerking and M. Woehrle and M. Althoff},
+ title = {Reachset Conformance Testing of Hybrid Automata},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2016},
+ pages = {277-286},
+ owner = {matthias},
+ timestamp = {2015.12.17}
+}
+
+@INPROCEEDINGS{Rohrmueller2008,
+ author = {F. Rohrm{\"u}ller and M. Althoff and D. Wollherr and M. Buss},
+ title = {Probabilistic Mapping of Dynamic Obstacles Using {Markov} Chains
+ for Replanning in Dynamic Environments},
+ booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots
+ and Systems},
+ year = {2008},
+ pages = {2504-2510},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/rohrmueller-2008-IROS.pdf:PDF;
+ [talk]:media/New Volume/other/Jemdoc website/talks/2008/rohrmueller-2008-IROS_talk.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@INPROCEEDINGS{Schuermann2016a,
+ author = {B. Sch{\"u}rmann and M. Althoff},
+ title = {Closed-Form Expressions of Convex Combinations for Controller Design},
+ booktitle = {Proc. of American Control Conference},
+ year = {2016},
+ pages = {2795-2801},
+ owner = {matthias},
+ timestamp = {2015.12.17}
+}
+
+@INPROCEEDINGS{Schuermann2016b,
+ author = {B. Sch{\"u}rmann and M. Althoff},
+ title = {Convex Interpolation Control with Formal Guarantees},
+ booktitle = {Proc. of Hybrid Systems: Computation and Control},
+ year = {2016},
+ note = {submitted},
+ owner = {matthias},
+ timestamp = {2015.12.17}
+}
+
+@ARTICLE{Soentges2017a,
+ author = {S. S{\"o}ntges and M. Althoff},
+ title = {Computing the Drivable Area of Autonomous Road Vehicles in Dynamic
+ Road Scenes},
+ journal = {IEEE Transactions on Intelligent Transportation Systems},
+ year = {2017},
+ volume = {x},
+ pages = {x},
+ owner = {matthias},
+ timestamp = {2016.09.16}
+}
+
+@INPROCEEDINGS{Soentges2015,
+ author = {S. S{\"o}ntges and M. Althoff},
+ title = {Determining the Nonexistence of Evasive Trajectories for Collision
+ Avoidance Systems},
+ booktitle = {Proc. of the 18th IEEE International Conference on Intelligent Transportation
+ Systems},
+ year = {2015},
+ pages = {956 - 961},
+ comment = {vCar},
+ owner = {matthias},
+ timestamp = {2015.06.16}
+}
+
+@INPROCEEDINGS{Thuy2008,
+ author = {M. Thuy and M. Goebl and F. Rattei and M. Althoff and F. Obermeier
+ and S. Hawe and R. Nagel and S. Kraus and C. Wang and F. Hecker and
+ M. Russ and M. Schweitzer and F. Puente Le{\'o}n and G. F{\"a}rber
+ and M. Buss and K. Diepold and J. Ebersp{\"a}cher and B. Hei{\ss}ing
+ and H.-J. W{\"u}nsche},
+ title = {{K}ognitive {A}utomobile: {N}eue {K}onzepte und {I}deen des {S}onderforschungsbereiches/{TR-28}},
+ booktitle = {Proc. of 3. Tagung Aktive Sicherheit durch Fahrerassistenz},
+ year = {2008},
+ filelinks = {[preprint]:media/New Volume/other/Jemdoc website/publications/2008/thuy-2008-FAS.pdf:PDF},
+ owner = {althoff},
+ timestamp = {2008.07.11}
+}
+
+@INPROCEEDINGS{Zeestraten2016,
+ author = {M.~J.~A. Zeestraten and A. Pereira and M. Althoff and S. Calinon},
+ title = {Online Motion Synthesis with Minimal Intervention Control and Formal
+ Safety Guarantees},
+ booktitle = {Proc. of IEEE International Conference on Systems, Man, and Cybernetics},
+ year = {2016},
+ owner = {matthias},
+ timestamp = {2016.04.18}
+}
+
+@PROCEEDINGS{Frehse2016,
+ title = {ARCH14-15. 1st and 2nd International Workshop on Applied veRification
+ for Continuous and Hybrid Systems},
+ year = {2016},
+ editor = {G. Frehse and M. Althoff},
+ volume = {34},
+ series = {EasyChair Proceedings in Computing},
+ publisher = {EasyChair},
+ owner = {matthias},
+ timestamp = {2015.12.17}
+}
+
+@comment{jabref-meta: groupsversion:3;}
+
+@comment{jabref-meta: groupstree:
+0 AllEntriesGroup:;
+1 ExplicitGroup:Conferences\;0\;Althoff2006a\;Althoff2007a\;Althoff200
+7b\;Althoff2007c\;Althoff2008a\;Althoff2008b\;Althoff2008c\;Althoff200
+8d\;Althoff2008e\;Althoff2009d\;Althoff2009e\;Althoff2010b\;Althoff201
+0c\;Althoff2011a\;Goebl2008\;Kraus2009\;Patil2006\;Thuy2008\;;
+1 ExplicitGroup:Theses\;0\;Althoff2010a\;;
+1 ExplicitGroup:Journals\;0\;Althoff2008f\;Althoff2009a\;Althoff2009b\
+;;
+1 ExplicitGroup:Book chapter\;0\;;
+}
+
diff --git a/documentation/easychair.cls b/documentation/easychair.cls
new file mode 100644
index 0000000000000000000000000000000000000000..9d7f61c07fdee9ad74405d9f230fda65af2c82ff
--- /dev/null
+++ b/documentation/easychair.cls
@@ -0,0 +1,931 @@
+%
+% Some credits
+%
+
+\def\easychairstyleauthor{easychair class style, by Serguei A. Mokhov and Andrei Voronkov <10 December 2015>}
+\def\easychairstylerevision{CVS Revision: $Id: easychair.cls,v 3.4 2015/12/10 09:52 voronkov Exp $}
+\def\easychairstylepurpose{Designed for easyChair.org, under guidelines and suggestions of}
+\def\easychairstylevoronkov{\space\space\space\space\space\space\space\space\space\space\space\space\space Andrei Voronkov , and}
+\def\easychairstylesutcliffe{\space\space\space\space\space\space\space\space\space\space\space\space\space Geoff Sutcliffe }
+\def\easychairstylecopyright{Copyright terms are that of easychair.org}
+\def\easychairstylebugs{For bug reports, please contact }
+
+\everyjob{\typeout{\easychairstyleauthor}}
+\everyjob{\typeout{\easychairstylerevision}}
+\everyjob{\typeout{\easychairstylepurpose}}
+\everyjob{\typeout{\easychairstylevoronkov}}
+\everyjob{\typeout{\easychairstylesutcliffe}}
+\everyjob{\typeout{\easychairstylecopyright}}
+\everyjob{\typeout{\easychairstylebugs}}
+
+\immediate\write10{\easychairstyleauthor}
+\immediate\write10{\easychairstylerevision}
+\immediate\write10{\easychairstylepurpose}
+\immediate\write10{\easychairstylevoronkov}
+\immediate\write10{\easychairstylesutcliffe}
+\immediate\write10{\easychairstylecopyright}
+\immediate\write10{\easychairstylebugs}
+
+%
+% Require LaTeX 2.09 or later
+%
+
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesClass{easychair}[2015/12/10 v3.4]
+\def\@tempa#1#2\@nil{\edef\@classname{#1}}
+\expandafter\@tempa\@currnamestack{}{}{}\@nil
+\ifx\@classname\@empty \edef\@classname{\@currname}\fi
+
+\RequirePackage{color}
+
+%
+% Debug
+%
+
+\def\easychairdebug#1{\gdef\@EasyDebug{#1}}
+\def\@EasyDebug{}
+
+\newif\ifdebug
+\debugfalse
+\DeclareOption{debug}{\debugtrue}
+
+\newif\ifprocedia
+\procediafalse
+\DeclareOption{procedia}{\procediatrue}
+
+% Procedia with the empty header
+\newif\ifprocediaempty
+\procediaemptyfalse
+\DeclareOption{procediaempty}{\procediaemptytrue}
+
+\newif\ifprocediafinal
+\procediafinalfalse
+\DeclareOption{procediafinal}{\procediafinaltrue}
+
+\newif\ifEPiC
+\EPiCfalse
+\DeclareOption{EPiC}{\EPiCtrue}
+
+% EPiC with the empty header
+\newif\ifEPiCempty
+\EPiCemptyfalse
+\DeclareOption{EPiCempty}{\EPiCemptytrue}
+
+\newif\ifEPiCfinal
+\EPiCfinalfalse
+\DeclareOption{EPiCfinal}{\EPiCfinaltrue}
+
+\def\easychairframe#1{\gdef\@EasyFrame{#1}}
+\def\@EasyFrame{}
+
+\newif\ifframe
+\framefalse
+
+\DeclareOption{frame}{\frametrue}
+
+\def\easychairverbose#1{\gdef\@EasyVerbose{#1}}
+\def\@EasyVerbose{}
+
+\newif\ifverbose
+\verbosefalse
+
+\DeclareOption{verbose}{\verbosetrue}
+
+
+%
+% Thesis
+% Perh Geoff, February 23, 2010 with support from Andrei
+%
+
+\def\easythesis#1{\gdef\@EasyThesis{#1}}
+\def\@EasyThesis{}
+
+\newif\ifthesis
+\thesisfalse
+
+\DeclareOption{thesis}{\thesistrue}
+
+
+%
+% Times New Roman or not
+%
+
+\def\easytimes#1{\gdef\@EasyTimes{#1}}
+\def\@EasyTimes{}
+
+\newif\ifnotimes
+\notimesfalse
+
+\DeclareOption{notimes}{\notimestrue}
+
+\newif\ifwithtimes
+\withtimesfalse
+
+\DeclareOption{withtimes}{\withtimestrue}
+
+
+%% Code added to use llncs style author list
+\newcounter{@inst}
+\newcounter{@auth}
+\newcounter{auco}
+\newdimen\instindent
+\def\institute#1{\gdef\@institute{#1}}
+
+\def\institutename{\par
+ \begingroup
+ \parskip=\z@
+ \parindent=\z@
+ \setcounter{@inst}{1}%
+ \def\and{\par\stepcounter{@inst}%
+ \noindent$^{\the@inst}$\enspace\ignorespaces}%
+ \setbox0=\vbox{\def\thanks##1{}\@institute}%
+ \ifnum\c@@inst=1\relax
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+ \xdef\fnnstart{\c@@inst}%
+ \setcounter{@inst}{1}%
+ \noindent$^{\the@inst}$\enspace
+ \fi
+ \ignorespaces
+ \@institute\par
+ \endgroup}
+
+\def\inst#1{\unskip$^{#1}$}
+\def\fnmsep{\unskip$^,$}
+\def\email#1{{\tt#1}}
+
+%%
+
+\newif\ifauthorundefined
+\authorundefinedtrue
+
+\let\oldauthor=\author
+\renewcommand
+ {\author}
+ [1]
+ {%
+ \ifauthorundefined
+ \oldauthor{#1}
+ \authorundefinedfalse
+ \else
+ \PackageWarning{easychair}{Another use of author ignored}
+ \fi
+ }
+
+\newif\iftitleundefined
+\titleundefinedtrue
+
+\let\oldtitle=\title
+\renewcommand
+ {\title}
+ [1]
+ {
+ \iftitleundefined
+ \oldtitle{#1}
+ \titleundefinedfalse
+ \else
+ \PackageWarning{easychair}{Another use of title ignored}
+ \fi
+ }
+
+
+%
+% Running heads definitions
+%
+
+%\def\titlerunning#1{\gdef\@titleRunning{#1}}
+%\def\authorrunning#1{\gdef\@authorRunning{#1}}
+%\titlerunning{easychair: Running title head is undefined.}
+%\authorrunning{easychair: Running author head is undefined.}
+
+\newif\iftitlerunningundefined
+\titlerunningundefinedtrue
+
+\newif\ifauthorrunningundefined
+\authorrunningundefinedtrue
+
+\gdef\@titleRunning{easychair: Running title head is undefined.}
+\gdef\@authorRunning{easychair: Running author head is undefined.}
+
+\def\titlerunning#1
+{
+ \iftitlerunningundefined
+ \gdef\@titleRunning{#1}
+ \titlerunningundefinedfalse
+ \else
+ \PackageWarning{easychair}{Another use of titlerunning ignored}
+ \fi
+}
+
+\def\authorrunning#1
+{
+ \ifauthorrunningundefined
+ \gdef\@authorRunning{#1}
+ \authorrunningundefinedfalse
+ \else
+ \PackageWarning{easychair}{Another use of authorrunning ignored}
+ \fi
+}
+
+%
+% Affiliations
+%
+
+\newcommand{\affiliation}[1]{\footnotesize{#1}\vspace{-3pt}}
+
+
+%
+% Decide between letter and A4 paper formats
+% as well as orientation
+%
+
+% Default is 'letterpaper'
+\def\paperformat#1{\gdef\@PaperFormat{#1}}
+\def\@PaperFormat{letterpaper}
+
+\newif\ifletterpaper
+\newif\ifafourpaper
+\newif\ifcustompaper
+
+\letterpapertrue
+
+\DeclareOption{letterpaper}{\paperformat{letterpaper}\afourpaperfalse\custompaperfalse}
+\DeclareOption{a4paper}{\paperformat{a4paper}\afourpapertrue\letterpaperfalse\custompaperfalse}
+\DeclareOption{custompaper}{\paperformat{letterpaper}\afourpaperfalse\letterpaperfalse\custompapertrue}
+\ExecuteOptions{letterpaper}
+
+\newlength{\@LMarginSize}
+\newlength{\@RMarginSize}
+\newlength{\@TMarginSize}
+\newlength{\@BMarginSize}
+
+\DeclareOption{lmargin}{}
+\DeclareOption{rmargin}{}
+\DeclareOption{tmargin}{}
+\DeclareOption{bmargin}{}
+
+
+% Default is portrait {}
+\def\paperorientation#1{\gdef\@PaperOrientation{#1}}
+\def\@PaperOrientation{}
+
+\DeclareOption{portrait}{\paperorientation{}}
+\DeclareOption{landscape}{\paperorientation{landscape}}
+
+% Two sided running heads for titlerunning and author running
+% twosided is the default
+\newif\iftwosided
+\twosidedfalse
+
+\DeclareOption{onesided}{}
+\DeclareOption{twosided}{\twosidedtrue}
+
+%
+% Decide between 1- or 2-column formats
+%
+
+\def\columnCount#1{\gdef\@ColumnCount{#1}}
+\def\@ColumnCount{onecolumn}
+
+\DeclareOption{onecolumn}{}
+\DeclareOption{twocolumn}{\columnCount{twocolumn}}
+
+%
+% Decide on line spacing
+%
+
+\def\lineSpacing#1{\gdef\@LineSpacing{#1}}
+\def\@LineSpacing{1.0}
+
+\DeclareOption{zerospacing}{\lineSpacing{0.0}}
+\DeclareOption{singlespacing}{\lineSpacing{1.0}}
+\DeclareOption{lineandhalfspacing}{\lineSpacing{1.5}}
+\DeclareOption{doublespacing}{\lineSpacing{2.0}}
+
+\DeclareOption{0.0}{\lineSpacing{0.0}}
+\DeclareOption{1.0}{\lineSpacing{1.0}}
+\DeclareOption{1.5}{\lineSpacing{1.5}}
+\DeclareOption{2.0}{\lineSpacing{2.0}}
+
+\DeclareOption{0.0pt}{\lineSpacing{0.0}}
+\DeclareOption{1.0pt}{\lineSpacing{1.0}}
+\DeclareOption{1.5pt}{\lineSpacing{1.5}}
+\DeclareOption{2.0pt}{\lineSpacing{2.0}}
+
+%
+% Font point size; default is 10pt
+%
+% The \headheight will have to be changed later accordingly
+% such that fancyhdr does not complain it is too small.
+%
+
+\def\baseFontSize#1{\gdef\@BaseFontSize{#1}}
+\def\headHeightSize#1{\gdef\@HeadHeightSize{#1}}
+\def\headSepSize#1{\gdef\@HeadSepSize{#1}}
+\def\footSkipSize#1{\gdef\@FootSkipSize{#1}}
+
+\def\@BaseFontSize{10pt}
+\def\@HeadHeightSize{12.0pt}
+\def\@HeadSepSize{16.0pt} % instead of the default 25pt
+\def\@FootSkipSize{26.0pt} % instead of the default 30pt
+
+\DeclareOption{8pt}{\PackageWarning{easychair}{Option '\CurrentOption' is not supported.}}
+\DeclareOption{9pt}{\PackageWarning{easychair}{Option '\CurrentOption' is not supported.}}
+\DeclareOption{10pt}{\baseFontSize{10pt}\headHeightSize{12.0pt}\headSepSize{16.0pt}\footSkipSize{26pt}}
+\DeclareOption{11pt}{\baseFontSize{11pt}\headHeightSize{13.6pt}\headSepSize{23.0pt}\footSkipSize{28pt}}
+\DeclareOption{12pt}{\baseFontSize{12pt}\headHeightSize{14.5pt}\headSepSize{25.0pt}\footSkipSize{30pt}}
+\ExecuteOptions{10pt}
+
+%
+% Page sizing
+%
+
+%\newif\iffullpage
+%\newif\ifsavetrees
+%
+%\DeclareOption{fullpage}{\fullpagetrue}
+%\DeclareOption{savetrees}{\savetreestrue}
+
+% Bark at any unknown package option
+\DeclareOption*{\PackageWarning{easychair}{Unknown option '\CurrentOption'}}
+\DeclareOption*{\PassOptionsToPackage{\CurrentOption}{geometry}}
+%\DeclareOption*{\PassOptionsToClass{\CurrentOption}{article}}
+
+%\ExecuteOptions{centertags,portrait,10pt,twoside,onecolumn,final}
+%\ExecuteOptions{}
+\ProcessOptions\relax
+
+%
+% Required packages and classes.
+%
+% All must be standard as per most common LaTeX
+% distributions.
+%
+
+\ifthesis
+ \LoadClass[\@PaperFormat,\@PaperOrientation,\@ColumnCount,\@BaseFontSize,twoside]{report}
+ \RequirePackage{makeidx}
+\else
+ % We are an article (more customized later)
+ \LoadClass[\@PaperFormat,\@PaperOrientation,\@ColumnCount,\@BaseFontSize,twoside]{article}
+ %\LoadClass[\@PaperFormat,\@PaperOrientation,\@ColumnCount,\@BaseFontSize]{article}
+\fi
+
+% Require UTF8 encoding, per Andrei Voronkov, to accomodate
+% all sorts of author names.
+%\RequirePackage[utf8]{inputenc}
+
+% To ensure the footnotes are always at the bottom.
+% IMPORTANT: footmisc should precede hyperref for the footnotes to hyperlink
+% correctly to their pages where they are at instead of always at
+% page 1. Per bug reports from a couple of users and a suggestion by
+% Uwe Pfeiffer.
+\RequirePackage[bottom]{footmisc}
+
+% TOC/thumbnail LHS preview in the PDFs as well as active URLs and other cross-refs
+% Newer versions of hyperref declare a4paper or letterpaper as obsolete and issue warnings
+\definecolor{linkcolor}{RGB}{170,0,0} % aa0000
+\definecolor{citecolor}{RGB}{44,160,46} % 2ca02d
+\definecolor{urlcolor}{RGB}{0,51,153} % 003399
+\RequirePackage[linktocpage,pdfcreator=easychair.cls-3.4,colorlinks=True,urlcolor=urlcolor,citecolor=citecolor,linkcolor=linkcolor]{hyperref}
+
+% Traditional graphics processing
+\RequirePackage{graphicx}
+%\RequirePackage{pdflscape}
+%\RequirePackage{lscape}
+
+
+%% Fonts, generally more compact but preserving point size
+
+% Pick "Times Roman" as a base font unless explicitly told not to
+\ifnotimes
+ \ifwithtimes
+ \PackageWarning{easychair}{Cannot really use 'notimes' and 'withtimes' together}
+ \PackageWarning{easychair}{Defaulting to 'notimes'...}
+ \else
+ \PackageWarning{easychair}{'notimes' has been deprecated as it is the default in 2.0}
+ \fi
+\else
+ \ifwithtimes
+ \RequirePackage{mathptmx}
+ \fi
+\fi
+
+% Pick "Helvetica" as a "Sans-Serif" font
+%\RequirePackage[scaled=.85]{helvet}
+
+% For algorithm and source code listings
+\RequirePackage{listings}
+
+%% Different Math and non-Math symbols and definitions
+
+\RequirePackage{latexsym}
+\RequirePackage{amsthm}
+\RequirePackage{empheq}
+
+%% Line spacing to be applied AFTER the above space saving packages
+
+\renewcommand{\baselinestretch}{\@LineSpacing}
+
+%% Final text printing area, per Geoff Sutcliffe
+
+\RequirePackage{keyval}
+
+\define@key{Ec}{lmargin}{\Ec@defbylen{lmargin}{#1}}
+
+\newlength{\@MarginSize}
+\setlength{\@MarginSize}{1in}
+
+\setlength{\@LMarginSize}{\@MarginSize}
+%\setlength{\@LMarginSize}{\Ec@lmargin}
+\setlength{\@RMarginSize}{\@MarginSize}
+\setlength{\@TMarginSize}{\@MarginSize}
+\setlength{\@BMarginSize}{\@MarginSize}
+
+
+% Head height is dependent on the font point size
+\setlength{\headheight}{\@HeadHeightSize}
+\setlength{\headsep}{\@HeadSepSize}
+\setlength{\footskip}{\@FootSkipSize}
+
+\ifletterpaper
+ \immediate\write10{easychair: Selecting letter paper margin sizes.}
+ \RequirePackage[%
+ papersize={8.5in,11in},
+ total={145mm,224mm},
+ centering,
+ twoside,
+ includeheadfoot]{geometry}
+\fi
+\ifafourpaper
+ \immediate\write10{easychair: Selecting A4 paper margin sizes.}
+ \RequirePackage[%
+ papersize={210mm,297mm},
+ total={145mm,224mm},
+ centering,
+ twoside,
+ includeheadfoot]{geometry}
+\fi
+
+\ifcustompaper
+ \immediate\write10{easychair: Selecting custom paper margin sizes.}
+ \RequirePackage[%
+ papersize={189mm,246mm},
+ total={145mm,224mm},
+ top=9mm,
+ left=24mm,
+ twoside,
+ includeheadfoot]{geometry}
+ \headHeightSize{12.0pt}
+ \headSepSize{16.0pt}
+ \footSkipSize{26pt}
+\fi
+
+%\setlength{\textwidth}{16cm}
+%\setlength{\textheight}{9in}
+
+
+%
+% Volume
+%
+
+\RequirePackage{lastpage}
+
+\newif\ifvolumeundefined
+\volumeundefinedtrue
+
+% e.g.
+% \volumeinfo
+% {J. Bloe} % editor(s) #1
+% {1} % No. of editors #2
+% {LICS 2008} % event title #3
+% {1} % volume number #4
+% {4} % issue #5
+% {134} % start page #6
+
+\def\@EasyFontStyle{\footnotesize}
+\newcommand{\headfootstyle}[1]{\def\@EasyFontStyle{#1}}
+
+\def\@EasyVolumeInfo{}
+
+\ifthesis
+ \newcommand{\volumeinfo}[6]
+ {\PackageWarning{easychair}{Cannot use volumeinfo with 'thesis' option. Ignoring...}}
+\else
+ \newcommand{\volumeinfo}[6]{%
+ \ifvolumeundefined
+ % \def\@makefntext##1{\noindent ##1}%
+ \def\@EasyEdsNames{#1}%
+ \def\@EasyEds{ed.}%
+ \def\@EasyEvent{#3}%
+ \def\@EasyVolume{}%
+ \def\@EasyIssue{}%
+ \def\@EasyFirstPage{#6}%
+ \ifnum #2>1 \gdef\@EasyEds{eds.}\fi%
+ \ifnum #4>0 \gdef\@EasyVolume{; Volume #4}\fi%
+ \ifnum #5>0 \gdef\@EasyIssue{, issue: #5} \fi%
+ % \footnotetext[0]{\sf \@EasyEdsNames (\@EasyEds); \@EasyEvent\@EasyVolume\@EasyIssue, pp. #6-\pageref*{LastPage}}%
+ % \def\@EasyVolumeInfo{\footnotesize{\sf\@EasyEdsNames~(\@EasyEds); \@EasyEvent\@EasyVolume\@EasyIssue, pp. \@EasyFirstPage--\pageref*{LastPage}}}%
+ \def\@EasyVolumeInfo{\@EasyFontStyle\@EasyEdsNames~(\@EasyEds); \@EasyEvent\@EasyVolume\@EasyIssue, pp. \@EasyFirstPage--\pageref*{LastPage}}%
+ %\def\@makefntext##1{\noindent\@makefnmark##1}%
+ \setcounter{page}{\@EasyFirstPage}
+ \volumeundefinedfalse
+ \else
+ {\PackageWarning{easychair}{May not redefine volumeinfo}}
+ \fi
+ }
+\fi
+
+\def\@EventInfo{}
+\def\@VolumeInfo{}
+
+%
+% Allow for more space to place floats.
+%
+
+\renewcommand{\topfraction}{0.95}
+\renewcommand{\bottomfraction}{0.95}
+\renewcommand{\textfraction}{0.05}
+\renewcommand{\floatpagefraction}{0.8}
+
+
+%
+% Running heads and ``foots''
+%
+
+\RequirePackage{fancyhdr}
+\pagestyle{fancy}
+
+\fancyhead{}
+%\ifdebug
+% \iftwosided
+% \fancyhead[RE]{\overline{\@titleRunning}}
+% \fancyhead[RO]{\overline{\@authorRunning}}
+% \else
+% \fancyhead[LO,LE]{\begin{math}\overline{\mbox{\@titleRunning}}\end{math}}
+% \fancyhead[RO,RE]{\begin{math}\overline{\mbox{\@authorRunning}}\end{math}}
+% \fi
+%\else
+ \iftwosided
+ \fancyhead[RE]{{\@EasyFontStyle\@titleRunning}}
+ \fancyhead[RO]{{\@EasyFontStyle\@authorRunning}}
+ \else
+ \fancyhead[LO,LE]{{\@EasyFontStyle\@titleRunning}}
+ \fancyhead[RO,RE]{{\@EasyFontStyle\@authorRunning}}
+ \fi
+%\fi
+
+\fancyfoot{}
+\ifodd\c@page
+ \fancyfoot[LO]{{\@EasyFontStyle\@VolumeInfo}}
+ \fancyfoot[RE]{{\@EasyFontStyle\@EventInfo}}
+\else
+ \fancyfoot[RE]{{\@EasyFontStyle\@VolumeInfo}}
+ \fancyfoot[LO]{{\@EasyFontStyle\@EventInfo}}
+\fi
+\ifodd\c@page
+ \fancyfoot[RO]{{\normalsize\thepage}}
+ \fancyfoot[LE]{{\normalsize\thepage}}
+\else
+ \fancyfoot[LE]{{\normalsize\thepage}}
+ \fancyfoot[RO]{{\normalsize\thepage}}
+\fi
+ \renewcommand{\headrulewidth}{0pt}
+ \renewcommand{\footrulewidth}{0pt}
+%\fi
+
+% Suppress the default date, per Geoff
+\date{}
+
+% For the first page
+\fancypagestyle{plain}{%
+\fancyhf{} % clear all header and footer fields
+\ifodd\c@page
+ \fancyfoot[L]{\@EasyVolumeInfo{}}%
+ \fancyfoot[R]{}
+\else
+ \fancyfoot[R]{\@EasyVolumeInfo}%
+ \fancyfoot[L]{}
+\fi
+\renewcommand{\headrulewidth}{0pt}
+\renewcommand{\footrulewidth}{0pt}}
+
+\def\@maketitle{%
+ %% Code added to use llncs style author list
+\def\andname{and}
+\def\lastandname{\unskip, and}
+ \def\lastand{\ifnum\value{@inst}=2\relax
+ \unskip{} \andname\
+ \else
+ \unskip \lastandname\
+ \fi}%
+ \def\and{\stepcounter{@auth}\relax
+ \ifnum\value{@auth}=\value{@inst}%
+ \lastand
+ \else
+ \unskip,
+ \fi}%
+ %%
+ \newpage
+ \null
+ % Facelift a bit the title and make it bold, per Geoff
+ \vspace{-1cm}
+ \begin{center}%
+ \let\footnote\thanks%
+ \ifwithtimes
+ {\LARGE{\@title}\par}
+ \else
+ {\LARGE\@title\par}
+ \fi
+ \vskip \baselineskip
+ \@date
+ {\large
+ \setbox0=\vbox{\setcounter{@auth}{1}\def\and{\stepcounter{@auth}}%
+ \def\thanks##1{}\@author}%
+ \global\value{@inst}=\value{@auth}%
+ \global\value{auco}=\value{@auth}%
+ \setcounter{@auth}{1}%
+ {\lineskip .5em
+ \noindent\ignorespaces
+ \@author\vskip.35cm}}
+ {\small\institutename}
+ \end{center}%
+}
+
+\ifprocediafinal
+\definecolor{volume}{RGB}{0,112,144}
+\def\procediaSeries{Procedia Computer Science}
+\def\procediaVolume{XXX}
+\def\procediaYear{2016}
+\def\procediaPages{Pages 19--27}
+\def\procediaConference{99th International Conference on Topics of Superb Significance (CATSS)}
+\def\elsevierLogo{elsevier_24mm.jpg}
+\def\procediaLogo{computer_science.jpg}
+\fi
+
+\ifEPiCfinal
+\definecolor{volume}{RGB}{0,112,144}
+\def\EPiCSeries{EPiC Series in Computer Science}
+\def\EPiCVolume{XXX}
+\def\EPiCYear{2016}
+\def\EPiCPages{Pages 19--27}
+\def\EPiCConference{99th International Conference on Topics of Superb Significance (CATSS)}
+\def\ChairLogo{logo_chair.png}
+\def\EPiCLogo{logo_epic.png}
+\fi
+
+% ------------------------------------------------
+% Change the maketitle command in EPiC
+\let\oldmaketitle=\@maketitle
+% ------------------------------------------------
+\def\@maketitle{%
+\ifprocediafinal
+\vspace*{-36pt}\noindent \hrulefill\\*[-5pt]
+\noindent
+\begin{tabular}{lcr}%
+ \vtop{\null\hbox{\includegraphics[height=73pt]{\elsevierLogo}}} &
+\vtop{\null\hbox{%
+\begin{minipage}[t]{261pt}\sf%
+\begin{center}\vspace*{2pt}%
+ {\Large \procediaSeries} \\[9pt]
+ {\color{volume}Volume \procediaVolume}, \procediaYear, \procediaPages \\[15pt]
+ \procediaConference
+\end{center}
+\end{minipage}}} &
+ \vtop{\null\hbox{\includegraphics[height=73pt]{\procediaLogo}}}
+ \end{tabular}
+
+\vspace*{5pt}\noindent\hrulefill
+
+\par\ \vspace*{12pt}\par
+{\let\newpage\relax\oldmaketitle}%
+\else \ifprocedia
+\definecolor{grayheader}{RGB}{112,112,112}%
+{\color{grayheader}\vspace*{-36pt}\noindent \hrulefill\\
+\noindent\centering
+\raisebox{0pt}[47pt][47pt]{This space is reserved for the Procedia header, do not use it}%
+
+\noindent\hrulefill}%
+\\
+
+{\let\newpage\relax\oldmaketitle}%
+\else \ifprocediaempty
+\raisebox{0pt}[47pt][47pt]{~}
+\\
+
+{\let\newpage\relax\oldmaketitle}%
+
+% Change the maketitle command for EPiC series
+
+\else \ifEPiCfinal
+
+%\vspace*{-10mm}\par
+\definecolor{headerframe}{rgb}{0.473,0.676,0.656} % 79ada8
+\definecolor{headerback}{rgb}{0.953125,0.95703125,0.9609375} % f4f5f6
+
+\begin{tcolorbox}[
+ enhanced,center,width=\linewidth-2cm,
+ underlay={
+ \node[inner sep=0pt,outer sep=0pt,right] at ([xshift=-1cm]frame.west)
+ {\includegraphics[height=75pt]{\ChairLogo}};
+ \node[inner sep=0pt,outer sep=0pt,left] at ([xshift=1cm]frame.east)
+ {\includegraphics[height=75pt]{\EPiCLogo}};
+ },
+ before skip=0pt,% <--- before box
+ after skip=6pt,% <--- after box
+ left=71.54pt-1cm+4mm,
+ right=56.22423pt-1cm+4mm,
+ sharp corners,text fill,
+ colback=headerback,colframe=headerframe,
+ height=73pt,toprule=0.5pt,bottomrule=0.5pt,leftrule=0pt,rightrule=0pt,
+ halign=center,valign=center,boxsep=0pt,
+ top=2mm,% space to top border
+ bottom=2mm,% space to bottom border
+ ]%
+{\Large \EPiCSeries}\par\vfill%
+{\color{volume}Volume \EPiCVolume, \EPiCYear, \EPiCPages}\par\vfill%
+\EPiCConference
+\end{tcolorbox}
+
+\par\ \vspace*{12pt}\par
+{\let\newpage\relax\oldmaketitle}%
+\else \ifEPiC
+\definecolor{grayheader}{RGB}{112,112,112}%
+{\color{grayheader}\vspace*{-23pt}\noindent \hrulefill\\
+\noindent\centering
+\raisebox{0pt}[36.5pt][36.5pt]{This space is reserved for the EPiC Series header, do not use it}%
+
+\noindent\hrulefill}%
+\\
+
+{\let\newpage\relax\oldmaketitle}%
+\else \ifEPiCempty
+\raisebox{0pt}[47pt][47pt]{~}
+\\
+
+{\let\newpage\relax\oldmaketitle}%
+
+% otherwise the old maketitle
+
+\else
+\oldmaketitle
+\fi\fi\fi\fi\fi\fi
+}
+% ------------------------------------------------
+
+% ------------------------------------------------
+% change the abstract command in Procedia
+\let\old@abstract=\abstract
+\let\old@endabstract=\endabstract
+% ------------------------------------------------
+\def\abstract{%
+\ifprocedia
+\noindent\hrulefill\par
+\vspace*{5pt}\noindent\textbf{Abstract}\par\noindent\ignorespaces
+\else \ifprocediafinal
+\noindent\hrulefill\par
+\vspace*{5pt}\noindent\textbf{Abstract}\par\noindent\ignorespaces
+\else \ifprocediaempty
+\noindent\hrulefill\par
+\vspace*{5pt}\noindent\textbf{Abstract}\par\noindent\ignorespaces
+\else
+\old@abstract
+\fi\fi\fi}
+\def\endabstract{%
+\ifprocedia
+\vspace{5pt}\par\noindent
+{\small\textit{Keywords:} \@keywords}
+\par\vspace*{-6pt}\noindent\hrulefill
+\else \ifprocediafinal
+\vspace{5pt}\par\noindent
+{\small\textit{Keywords:} \@keywords}
+\par\vspace*{-6pt}\noindent\hrulefill
+\old@endabstract
+\else \ifprocediaempty
+\vspace{5pt}\par\noindent
+{\small\textit{Keywords:} \@keywords}
+\par\vspace*{-6pt}\noindent\hrulefill
+\old@endabstract
+\fi\fi\fi}
+% ------------------------------------------------
+
+% ------------------------------------------------
+% keywords command in Procedia
+\ifprocedia
+\def\@keywords{}
+\def\keywords#1{\gdef\@keywords{#1}}
+\else \ifprocediafinal
+\def\@keywords{}
+\def\keywords#1{\gdef\@keywords{#1}}
+\else \ifprocediaempty
+\def\@keywords{}
+\def\keywords#1{\gdef\@keywords{#1}}
+\fi\fi\fi
+% ------------------------------------------------
+
+% Tighten up bibliography
+\let\oldthebibliography=\thebibliography
+\let\endoldthebibliography=\endthebibliography
+\renewenvironment{thebibliography}[1]
+{
+ \small
+ \begin{oldthebibliography}{#1}
+ \setlength{\parskip}{2pt}
+ \setlength{\itemsep}{0pt}
+}
+{
+ \end{oldthebibliography}
+}
+
+\ifdebug
+ \ifverbose
+ \RequirePackage[colorgrid,pscoord]{eso-pic}%
+ \else
+ \RequirePackage[pscoord]{eso-pic}
+ \newcommand\ShowFramePicture{%
+ \begingroup
+ \color{red}
+ \AtTextLowerLeft{\framebox(\LenToUnit{\textwidth},\LenToUnit{\textheight}){}}%
+ \AtTextUpperLeft{\put(0,\LenToUnit{\headsep}){\framebox(\LenToUnit{\textwidth},\LenToUnit{\headheight}){}}}%
+ \AtTextLowerLeft{\put(0,\LenToUnit{-\footskip}){\framebox(\LenToUnit{\textwidth},\LenToUnit{\headheight}){}}}%
+ \endgroup
+ }
+ \AddToShipoutPicture{\ShowFramePicture}
+ \fi
+ %\RequirePackage[a4,cam,center]{crop}%
+ %\RequirePackage[cam,center]{crop}%
+\fi
+
+\ifframe
+ \ifverbose
+ \RequirePackage[colorgrid,pscoord]{eso-pic}%
+ \else
+ \RequirePackage[pscoord]{eso-pic}
+ \newcommand\ShowBlueFrame{%
+ \begingroup
+ \color{blue}
+ % odd page
+% \AtTextLowerLeft{\put(\LenToUnit{-23.6mm},\LenToUnit{-21.8mm}){\framebox(\LenToUnit{188.3mm},\LenToUnit{245.4mm}){}}}%
+ % even page
+% \AtTextLowerLeft{\put(\LenToUnit{-19.6mm},\LenToUnit{-21.8mm}){\framebox(\LenToUnit{188.3mm},\LenToUnit{245.4mm}){}}}%
+ \endgroup
+ }
+ \AddToShipoutPicture{\ShowBlueFrame}
+ \fi
+\fi
+
+% \geometry{papersize={170mm,240mm},total={124mm,185mm}}
+
+%% Indexing options for proceedings to link up people's names to their
+%% various participation and affiliation options.
+
+\newcommand
+ {\indexedperson}
+ [3]
+ {\index{#2!#1}\index{#1}\index{#1!#3}}
+
+\newcommand
+ {\indexedauthor}
+ [1]
+ {\indexedperson{#1}{Authors}{Author}}
+
+\newcommand
+ {\indexededitor}
+ [1]
+ {\indexedperson{#1}{Editors}{Editor}}
+
+\newcommand
+ {\indexedpcmember}
+ [1]
+ {\indexedperson{#1}{PC Members}{PC Member}}
+
+\newcommand
+ {\indexedreviewer}
+ [1]
+ {\indexedperson{#1}{Reviewers}{Reviewer}}
+
+\newcommand
+ {\indexedorganizer}
+ [1]
+ {\indexedperson{#1}{Organizers}{Organizer}}
+
+\newcommand
+ {\indexedwebmaster}
+ [1]
+ {\indexedperson{#1}{Webmasters}{Webmaster}}
+
+\newcommand
+ {\indexedaffiliation}
+ [2]
+ {\indexedperson{#1}{#2}{#2}}
+
+\newcommand
+ {\indexedsupervisor}
+ [2]
+ {\indexedperson{#1}{}{Supervisor: #2}\indexedperson{#2}{Supervisors}{Supervisor}}
+
+\endinput
+
+% \crop[font=\upshape\mdseries\small\textsf]
+
+% EOF
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+\documentclass[11pt,a4paper]{article}
+
+%% More layout: Get rid of indenting throughout entire document
+\setlength{\parindent}{0in}
+
+%Changes from Matthias Althoff:
+\usepackage{color,hyperref}
+\usepackage{fancyvrb}
+\usepackage{eurosym}
+%\usepackage[a4paper,left=2.5cm,right=2.5cm,nohead]{geometry}
+\usepackage[a4paper,margin=2.5cm]{geometry}
+\usepackage{fancyhdr} %for header
+\usepackage{titlesec}
+\usepackage{enumitem}
+\usepackage{tabularx}
+\usepackage{lastpage}
+\usepackage{parskip}
+\usepackage{graphicx}
+\usepackage{subfigure}
+\usepackage{psfrag}
+\usepackage{amsmath,amssymb,amsfonts}
+\usepackage{mathrsfs}
+\usepackage{cite}
+\usepackage{pifont} %for circled numbers
+\usepackage{caption}
+\usepackage[amsmath,hyperref,thmmarks]{ntheorem} %better package for proof environment
+\usepackage{booktabs}
+
+
+\newcommand{\mathpzc}[1]{\underline{#1}}
+%Indexing elements----------------------
+\renewcommand{\^}[1]{^{(#1)}}
+\renewcommand{\th}[1]{#1^\text{th}}
+%---------------------------------------
+
+\newenvironment{wide_itemize}{
+\begin{itemize}
+ \setlength{\itemsep}{10pt}
+ \setlength{\parskip}{0pt}
+ \setlength{\parsep}{0pt}
+}{\end{itemize}}
+
+\newenvironment{packed_itemize}{
+\begin{itemize}
+ \renewcommand{\labelitemi}{$\bullet$}
+ \setlength{\itemsep}{2pt}
+ \setlength{\parskip}{0pt}
+ \setlength{\parsep}{0pt}
+}{\end{itemize}}
+
+\newenvironment{first_itemize}{
+\setlist{nolistsep}
+\vspace{-0.2cm}
+\begin{itemize}
+ \setlength{\itemsep}{2pt}
+ \setlength{\parskip}{0pt}
+ \setlength{\parsep}{0pt}
+}{\end{itemize}}
+
+\newcommand{\sep}[1]{{\large\textbf{#1}} \vspace{0.3cm}} %seperator
+
+\newcommand{\brake}{\mbox{} \vspace{0cm} \mbox{}} %seperator
+
+%\renewcommand{\sectionmark}[1]{\markright{\thesection\ #1}}
+
+
+
+\pagestyle{fancy} %set differnt page style for header
+\fancyhead[L]{\leftmark}
+\fancyhead[C]{}
+\fancyhead[R]{}
+\fancyfoot[L]{}
+\fancyfoot[C]{\thepage}
+\fancyfoot[R]{}
+
+
+\fancypagestyle{firststyle}
+{
+ \addtolength{\headheight}{-1.05cm}
+ \addtolength{\headsep}{1.05cm}
+}
+
+
+% % easychair.tex,v 3.4 2015/12/10
+%
+% \documentclass{easychair}
+% %\documentclass[EPiC]{easychair}
+% %\documentclass[debug]{easychair}
+% %\documentclass[verbose]{easychair}
+% %\documentclass[notimes]{easychair}
+% %\documentclass[withtimes]{easychair}
+% %\documentclass[a4paper]{easychair}
+% %\documentclass[letterpaper]{easychair}
+%
+% \usepackage{doc}
+%
+% % use this if you have a long article and want to create an index
+% % \usepackage{makeidx}
+%
+% % In order to save space or manage large tables or figures in a
+% % landcape-like text, you can use the rotating and pdflscape
+% % packages. Uncomment the desired from the below.
+% %
+% % \usepackage{rotating}
+% % \usepackage{pdflscape}
+%
+% % Some of our commands for this guide.
+% %
+% \newcommand{\easychair}{\textsf{easychair}}
+% \newcommand{\miktex}{MiK{\TeX}}
+% \newcommand{\texniccenter}{{\TeX}nicCenter}
+% \newcommand{\makefile}{\texttt{Makefile}}
+% \newcommand{\latexeditor}{LEd}
+%
+% %Changes from Matthias Althoff:
+% \usepackage{color,hyperref}
+% \usepackage{fancyvrb}
+% \usepackage{eurosym}
+% \usepackage{titlesec}
+% \usepackage{enumitem}
+% \usepackage{tabularx}
+% \usepackage{lastpage}
+% \usepackage{parskip}
+% \usepackage{graphicx}
+% \usepackage{subfigure}
+% \usepackage{psfrag}
+% \usepackage{amsmath,amssymb,amsfonts}
+% \usepackage{mathrsfs}
+% \usepackage{cite}
+% \usepackage{pifont} %for circled numbers
+% \usepackage{caption}
+% \usepackage{booktabs}
+% %\usepackage{breakurl}
+
+% \newtheorem{lemma}{Lemma}
+% \newtheorem{definition}{Definition}[]
+% \newtheorem{proposition}{Proposition}[]
+
+\DeclareMathOperator{\arccosh}{arccosh}
+\DeclareMathOperator{\arcsinh}{arcsinh}
+\DeclareMathOperator{\arctanh}{arctanh}
+\DeclareMathOperator{\abs}{abs}
+\DeclareMathOperator{\sign}{sgn}
+
+\newcommand{\cmark}{\ding{51}}%
+\newcommand{\xmark}{\ding{55}}
+\renewcommand{\a}{l_f} %vehicle parameter
+\renewcommand{\b}{l_r} %vehicle parameter
+\newcommand{\prho}{\rho} %vehicle parameter
+\newcommand{\pA}{A} %vehicle parameter
+\newcommand{\sX}{\sum X} %auxiliary vehicle variable
+\newcommand{\sN}{\sum N} %auxiliary vehicle variable
+\newcommand{\sY}{\sum Y} %auxiliary vehicle variable
+\newcommand{\sL}{\sum L} %auxiliary vehicle variable
+\newcommand{\sZ}{\sum Z} %auxiliary vehicle variable
+\newcommand{\sM}{\sum M} %auxiliary vehicle variable
+
+
+\begin{document}
+
+\mbox{} \vspace{0.8cm} \mbox{}
+\begin{center} {\Huge\textbf{CommonRoad: Vehicle Models} \\[0.3cm] \huge(Version 2019b)} \end{center}
+\vspace{0.2cm}
+\begin{center} {\large Matthias Althoff} \\[0.2cm] Technische Universit\"at M\"unchen, 85748 Garching, Germany
+\end{center}
+\vspace{0.2cm}
+
+\noindent
+
+\begin{abstract}
+This document presents models in \textit{CommonRoad} for vehicle dynamics ranging from simple to complicated: The simplest model is a point-mass model, while the most complicated one is a multi-body model. All models are presented in state-space form to facilitate their implementation in standard solvers for ordinary differential equations. We further provide parameter sets and a precise initialization of the multi-body model. To be able to compare the results with simpler models, it is presented how the initial states and the parameters of the multi-body model can be transfered to simpler models. Implementation examples in MATLAB and Python are provided on the \textit{CommonRoad} website. Our repository also provide routines to convert initial states and parameters. Simulation examples demonstrate the advantages of more complicated models.
+\end{abstract}
+
+
+\setcounter{tocdepth}{2}
+{\small
+\tableofcontents}
+
+
+%\pagestyle{empty}
+
+%------------------------------------------------------------------------------
+\section{Introduction}
+\label{sec:introduction}
+
+This document is part of the \textit{CommonRoad} benchmark repository for motion planning of road vehicles, alongside other documents for possible cost functions and road scenarios. It is assumed in this document that all vehicles have an underlying controller that can realize a commanded acceleration (positive and negative). Especially for adaptive cruise control, numerous works already exist that realize a commanded acceleration, see e.g. \cite{Shladover1991,Kim2007}. The effects on engine characteristics in terms of fuel consumption can be considered in the cost function as demonstrated in the document on cost functions.
+
+The lateral dynamics, however, cannot be abstracted away to the same extent using controllers. Especially, when constraints such as the danger of roll-over have to be considered in extreme maneuvers \cite{Odenthal1999, Gaspar2005}. For this reason, our models consider increasingly complicated lateral vehicle dynamics and tire models: point-mass model, kinematic single-track model, single-track model, and a multi-body model. For each model, we (1) present the set of required ordinary differential equations, (2) convert them into state-space form so that common solvers can be used, and (3) provide typical parameters.
+
+In \textit{CommonRoad}, we provide three types of vehicles:
+\begin{itemize}
+ \item a small vehicle (Ford Escort; vehicle ID: 1),
+ \item a medium vehicle (BMW 320i; vehicle ID: 2),
+ \item and a van (VW Vanagon; vehicle ID: 3).
+\end{itemize}
+Detailed parameters of these vehicles have been collected from \cite[Appendix A]{Allen1992} and other vehicle databases that are online available. For each vehicle, we provide the aforementioned models: point-mass model (Sec.~\ref{sec:PMmodel}), kinematic single-track model (Sec.~\ref{sec:KSmodel}), single-track model (Sec.~\ref{sec:STmodel}), and a multi-body model (Sec.~\ref{sec:MBmodel}). After combining the vehicle identifier with the model type, one obtains the model ID. For instance, KS2 is a kinematic single-track model using the parameters of the BMW 320i. In addition, we describe in Sec.~\ref{sec:conversion} how parameters and initial states can be converted from complicated to simpler models. Finally, in Sec.~\ref{sec:examples} we provide some numerical results.
+
+\section{Changes Compared to Version 2019a}
+
+The vehicle models did not change compared to version 2019a. Only the presentation for the kinematic single-track model has changed: it is now clarified that the reference point is the center of the rear axle and not the center of mass.
+
+\section{Steering and Acceleration Constraints} \label{sec:constraints}
+
+With the exception of the point-mass model, all vehicle models respect steering and acceleration constraints. Since the point mass model only uses acceleration as an input, no steering constraints can be modeled. To formulate the constraints, let us first introduce the steering angle $\delta$, the velocity of the steering angle $v_\delta$, the velocity $v$, and the parameter $v_S$ describing the velocity above which the engine power is not sufficient to cause wheel slip. We denote by $\underline{\square}$ the minimum possible value and by $\overline{\square}$ the maximum possible value and by $\square_\mathtt{lat}$ the value of a variable in lateral direction and by $\square_\mathtt{long}$ the value in longitudinal direction.
+
+The constraints on steering angle velocity, steering angle, and velocity are straightforward:
+\begin{equation}
+ v_\delta \in [\underline{v}_\delta, \overline{v}_\delta], \quad \delta \in [\underline{\delta}, \overline{\delta}], \quad v \in [\underline{v}, \overline{v}]. \label{eq:remainingRestrictions}
+\end{equation}
+Considering limited engine power and braking power results in the following constraint as detailed in \cite[Sec.~III.B]{Althoff2016d}:
+\begin{equation}
+ a_\mathtt{long} \in [\underline{a},\overline{a}(v)], \quad \overline{a}(v) = \begin{cases}
+ a_\mathtt{max}\frac{v_S}{v} & \text{for } v > v_S, \\
+ a_\mathtt{max} & \text{otherwise}.
+ \end{cases} \label{eq:longitudinalRestriction}
+\end{equation}
+Finally, we consider the friction circle (aka Kamm's circle) limiting absolute acceleration:
+\begin{equation}
+\sqrt{a_\mathtt{long}^2 + (v\, \dot{\Psi})^2} \leq a_\mathtt{max} \qquad (a_\mathtt{lat} = v\, \dot{\Psi}) \label{eq:lateralRestriction}
+\end{equation}
+The constraints on steering, velocity, and acceleration can be directly considered by introducing a desired steering velocity $v_{\delta,d}$ and a desired acceleration $a_\mathtt{long,d}$ as well as choosing
+\begin{flalign}
+ v_{\delta} = f_{steer}(\delta,v_{\delta,d}) = & \begin{cases}
+ 0 & \text{ for } (\delta \leq \underline{\delta} \land v_{\delta,d} \leq 0) \lor (\delta \geq \overline{\delta} \land v_{\delta,d} \geq 0) \quad (C1), \\
+ \underline{v}_\delta & \text{ for } \lnot C1 \land v_{\delta,d} \leq \underline{v}_\delta, \\
+ \overline{v}_\delta & \text{ for } \lnot C1 \land v_{\delta,d} \geq \overline{v}_\delta, \\
+ v_{\delta,d} & \text{ otherwise},
+ \end{cases} \label{eq:steeringRestriction} \\
+ a_\mathtt{long} = f_{acc}(v, a_\mathtt{long,d}) = & \begin{cases}
+ 0 & \text{ for } (v \leq \underline{v} \land a_\mathtt{long,d} \leq 0) \lor (v \geq \overline{v} \land a_\mathtt{long,d} \geq 0) \quad (C2), \\
+ \underline{a} & \text{ for } \lnot C2 \land a_\mathtt{long,d} \leq \underline{a}, \\
+ \overline{a}(v) & \text{ for } \lnot C2 \land a_\mathtt{long,d} \geq \overline{a}(v), \\
+ a_\mathtt{long,d} & \text{ otherwise}.
+ \end{cases} \label{eq:accelerationRestriction}
+\end{flalign}
+Constraint parameters for different vehicle models are listed in Tab.~\ref{tab:constraintParameters}.
+
+\begin{table}[h]
+\caption{Constraint Parameters (obtained from information on the Internet). }
+{\small
+\begin{center}\label{tab:constraintParameters}
+\begin{tabular}{lllclll}
+ \toprule
+ \multicolumn{3}{c}{\textbf{vehicle parameter}} & \phantom{a} & \multicolumn{3}{c}{\textbf{vehicle identifier}} \\ \cmidrule{1-3} \cmidrule{5-7}
+ \textbf{name} & \textbf{symbol} & \textbf{unit} && \textbf{1} & \textbf{2} & \textbf{3} \\ \hline
+ minimum steering angle & $\underline{\delta}$ & [rad] && $-0.910$ & $-1.066$ & $-1.023$ \\
+ maximum steering angle & $\overline{\delta}$ & [rad] && $0.910$ & $1.066$ & $1.023$ \\
+ minimum steering velocity & $\underline{v}_\delta$ & [rad/s] && $-0.4$ & $-0.4$ & $-0.4$ \\
+ maximum steering velocity & $\overline{v}_\delta$ & [rad/s] && $0.4$ & $0.4$ & $0.4$ \\
+ min. velocity (also depending on traffic rules) & $\underline{v}$ & [m/s] && $-13.9$ & $-13.6$ & $-11.2$ \\
+ max. velocity (also depending on traffic rules) & $\overline{v}$ & [m/s] && $45.8$ & $50.8$ & $41.7$ \\
+ switching velocity & $v_S$ & [m/s] && $4.755$ & $7.319$ & $4.824$ \\
+ maximum acceleration & $a_\mathtt{max}$ & [m/s$^2$] && $11.5$ & $11.5$ & $11.5$ \\
+ \bottomrule
+\end{tabular}
+\end{center}}
+\end{table}
+
+% 1989 Ford Escort: power: 67kW, top speed: 165 km/h, turning radius: 10.88m, length: 4.298m, width: 1.674m; reverseGearRatio: 3.27; velMax*gearRatio [m/s]: 45.4750; max. backwad velocity: 13.9067
+% 1981 BMW 320i: Power: 92kW, top speed: 183 km/h, turning radius: 10.3m, length: 4.508m (with US bumpers), width: 1.610m; reverseGearRatio: 3.682; velMax*gearRatio [m/s]: 50.1161; max. backwad velocity: 13.9067
+% 1984 VW Vanagon: Power: 82kW, top speed: 150 km/h, turning radius: 10.7m, length: 4.569m, width: 1.844m; reverseGearRatio: 3.67; velMax*gearRatio [m/s]: 40.9887; max. backwad velocity: 11.1686
+% delta_max = arctan(l/R); only for bicycle model
+% delta_max = arcsin(2*l/R); according to German Wiki entry
+% v_s = P_max/(m*a_max)
+
+We would also like to mention, that other works do not provide all the constraints presented in this document (which can be easily removed, but a removal should be stated since this simplifies motion planning).
+
+\section{Point-Mass Model (PM)} \label{sec:PMmodel}
+
+The point-mass model is the simplest model that is commonly used for motion planning, see e.g. \cite{Tomas-Gabarron2013,Godbole1997}. This model abstracts the vehicle as a point mass that can be accelerated within bounds. This bound is typically chosen as a circle (Kamm's circle), which is also the bound chosen in this benchmark suite. Let us introduce $\square$ as the placeholder for a variable and $\square_x$ and $\square_y$ to denote the value of the corresponding variable in $x$ and $y$ direction, respectively. After further introducing position $s$, acceleration $a$, and maximum absolute acceleration $a_\mathtt{max}$, the dynamics of the point mass model is
+\begin{flalign*}
+ \ddot{s}_x = a_x, \quad \ddot{s}_y = a_y, \quad \sqrt{a_x^2 + a_y^2} \leq a_\mathtt{max}. &&
+\end{flalign*}
+The point-mass model ignores that vehicles have a minimum turning circle, which is considered in the kinematic single-track model.
+
+\subsection{State Space Model}
+
+After introducing the state variables $x_i$ as
+\begin{flalign*}
+ x_1 = s_x, \quad x_2 = s_y, \quad x_3 = \dot{s}_x, \quad x_4 = \dot{s}_y &&
+\end{flalign*}
+and the input variables $u_i$ as
+\begin{flalign*}
+ u_1 = a_x, \quad u_2 = a_y, &&
+\end{flalign*}
+the system dynamics can be written as the linear system
+\begin{flalign*}
+ \dot{x} = Ax + Bu, \qquad A=\begin{bmatrix} 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \\ 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 \end{bmatrix}, \quad B = \begin{bmatrix} 0 & 0 \\ 0 & 0 \\ 1 & 0 \\ 0 & 1 \end{bmatrix}. &&
+\end{flalign*}
+The only constraint in state space form is $\sqrt{u_1^2 + u_2^2} \leq a_\mathtt{max}$.
+
+\subsection{Parameters}
+
+The only parameter of this model is $a_\mathtt{max}$. Since in this version all vehicles use the same tire, we have $a_\mathtt{max} = 11.5$ [m/s$^2$] (see Tab.~\ref{tab:constraintParameters}).
+
+\section{Kinematic Single-Track Model (KS)} \label{sec:KSmodel}
+
+The kinematic single-track models a road vehicle with only two wheels, where the front and rear wheel pairs are each lumped into one wheel. This simplification is justified since the roll dynamics is not considered (see Fig.~\ref{fig:bicycleModel} and \cite[Sec.~2.2]{Rajamani2012}). This also explains the term \textit{single-track model}. The kinematic single-track model further does not consider any tire slip, so that the velocity vector $v$ at the center of the rear axle is always aligned with the link between the front and rear wheel as depicted in Fig.~\ref{fig:kinematicBicycleModel}. Similarly to the point-mass model, the kinematic single-track model is used in many works for motion planning, e.g. \cite{Paden2016,Petti2005}. A simple example, where the benefit of a kinematic single-track model is evident, is parking: a point-mass model is not sufficient since it would not consider the non-holonomic behavior and in particular the minimum turning radius.
+
+In addition to the variables already introduced for the point-mass model and the already introduced velocity $v$, we additionally require the velocity of the steering angle $v_\delta$, the steering angle $\delta$, the heading $\Psi$, and the parameter $l_{wb}$ describing the wheelbase. The differential equations of the kinematic single-track model as defined in this document are
+\begin{flalign} \label{eq:KS}
+ \dot{\delta} = & v_\delta, && \nonumber \\
+ \dot{\Psi} = & \frac{v}{l_{wb}} \tan(\delta), \nonumber \\
+ \dot{v} = & a_\mathtt{long}, \\
+ \dot{s}_x = & v \cos(\Psi), \nonumber \\
+ \dot{s}_y = & v \sin(\Psi), \nonumber
+\end{flalign}
+Please note that kinematic single-track models slightly differ in publications, depending on whether one considers that (1) the steering angle or the steering velocity is an input or (2) the vehicle velocity or the vehicle acceleration is an input. For instance, in \cite[eq.~(8)]{Paden2016}, the vehicle velocity and the steering velocity are inputs.
+
+\begin{figure}[h]
+ \centering
+ \footnotesize
+ \psfrag{a}[c]{$\begin{bmatrix} s_x \\ s_y \end{bmatrix}$}
+ \psfrag{b}[c]{$\Psi$}
+ \psfrag{d}[c]{$l_{wb}$}
+ \psfrag{f}[c]{$\delta$}
+ \psfrag{x}[c]{$x$}
+ \psfrag{y}[c]{$y$}
+ \psfrag{v}[c]{$v$}
+ \includegraphics[width=10cm]{./figures/kinematicBicycleModel.eps}
+ \caption{Kinematic single-track model.}
+ \label{fig:kinematicBicycleModel}
+\end{figure}
+
+\subsection{State Space Model}
+
+To write the kinematic single-track model in state-space form, we introduce the following state variables:
+\begin{flalign*}
+ x_1 = s_x, \quad x_2 = s_y, \quad x_3 = \delta, \quad x_4 = v, \quad x_5 = \Psi. &&
+\end{flalign*}
+The input variables are
+\begin{flalign} \label{eq:inputVariables}
+ u_1 = v_\delta, \quad u_2 = a_\mathtt{long}. &&
+\end{flalign}
+Inserting the state and input variables into \eqref{eq:KS} and directly considering the constraints on steering, velocity, and acceleration, results in
+\begin{flalign*}
+ \dot{x}_1 = & x_4 \cos(x_5), \\
+ \dot{x}_2 = & x_4 \sin(x_5), \\
+ \dot{x}_3 = & f_{steer}(x_3, u_1), && \text{see \eqref{eq:steeringRestriction}} \\
+ \dot{x}_4 = & f_{acc}(x_4, u_2), && \text{see \eqref{eq:accelerationRestriction}} \\
+ \dot{x}_5 = & \frac{x_4}{l_{wb}} \tan(x_3).
+\end{flalign*}
+Because the constraints on steering, velocity, and acceleration are already considered by $f_{steer}(x_3, u_1)$ and $f_{acc}(x_4, u_2)$, it only remins to consider the friction circle:
+\begin{equation} \label{eq:KSconstraints}
+\begin{split}
+ & \sqrt{u_2^2 + (x_4\, \dot{x}_5)^2} \leq a_\mathtt{max}.
+\end{split}
+\end{equation}
+
+\subsection{Parameters}
+
+The parameters of this model are listed in Tab.~\ref{tab:vehicleParametersKS} and the constraint parameters are presented in Tab.~\ref{tab:constraintParameters}.
+
+
+\begin{table}[h]
+\caption{Vehicle Parameters for the kinematic single-track model (values have been obtained according to Sec.~\ref{sec:parameterConversion}). }
+{\small
+\begin{center}\label{tab:vehicleParametersKS}
+\begin{tabular}{lllclll}
+ \toprule
+ \multicolumn{3}{c}{\textbf{vehicle parameter}} & \phantom{a} & \multicolumn{3}{c}{\textbf{vehicle identifier}} \\ \cmidrule{1-3} \cmidrule{5-7}
+ \textbf{name} & \textbf{symbol} & \textbf{unit} && \textbf{1} & \textbf{2} & \textbf{3} \\ \hline
+ vehicle length & $l$ & [m] && $4.298$ & $4.508$ & $4.569$ \\
+ vehicle width & $w$ & [m] && $1.674$ & $1.610$ & $1.844$ \\
+ wheelbase & $l_{wb}$ & [m] && $2.391$ & $2.578$ & $2.471$ \\
+ \bottomrule %LR
+\end{tabular}
+\end{center}}
+\end{table}
+
+
+
+
+
+\section{Single-Track Model (ST)} \label{sec:STmodel}
+
+Since the kinematic single-track model does not consider tire slip, important effects such as understeer or oversteer are not considered \cite[Sec.~2.3]{Rajamani2012}. However, when the vehicle is not driving close to its physical capabilities, those effects are not dominant. The extension is the well-known single-track model, which is also known as the bicycle model. Works that perform planning of evasive maneuvers closer to physical limits require the single-track model, see e.g. \cite{Jeon2011,Shiller1991}. We additionally consider the load transfer of the vehicle due to longitudinal acceleration $a_\mathtt{long}$ (neglecting suspension dynamics), such that the vertical forces on the front and rear axis $F_{z,f}$ and $F_{z,r}$ become
+\begin{flalign*}
+ F_{z,f} = \frac{mg l_r - m a_\mathtt{long} h_{cg}}{l_r+l_f}, \quad
+ F_{z,r} = \frac{mg l_f + m a_\mathtt{long} h_{cg}}{l_r+l_f}, &&
+\end{flalign*}
+with parameters from Tab. \ref{tab:vehicleParametersST}. These forces are inserted into the derivation of the equations for the slip angle (at the center of gravity) $\beta$ and the yaw rate $\dot{\Psi}$ \cite[Sec.~2.3]{Rajamani2012}. Using the previously introduced variables and the parameters in Tab. \ref{tab:vehicleParametersST}, the single-track model as defined in this work is
+\begin{flalign} \label{eq:ST}
+ \dot{\delta} = & v_\delta, \nonumber \\
+ \dot{\beta} = & \frac{\mu}{v(l_r + l_f)} \Big( C_{S,f}(g l_r - a_\mathtt{long} h_{cg}) \delta
+ - (C_{S,r}(g l_f + a_\mathtt{long} h_{cg}) + C_{S,f}(g l_r - a_\mathtt{long} h_{cg})) \beta && \nonumber \\
+ & + (C_{S,r}(g l_f + a_\mathtt{long} h_{cg})l_r - C_{S,f}(g l_r - a_\mathtt{long} h_{cg})l_f) \frac{\dot{\Psi}}{v} \Big) - \dot{\Psi}, \nonumber \\
+ \ddot{\Psi} = & \frac{\mu m}{I_z(l_r + l_f)} \Big( l_f C_{S,f} (g l_r - a_\mathtt{long} h_{cg}) \delta \\
+ & + \left( l_r C_{S,r}(g l_f + a_\mathtt{long} h_{cg}) - l_f C_{S,f} (g l_r - a_\mathtt{long} h_{cg}) \right) \beta \nonumber \\
+ & - \left(l_f^2 C_{S,f} (g l_r - a_\mathtt{long} h_{cg}) + l_r^2 C_{S,r}(g l_f + a_\mathtt{long} h_{cg}) \right) \frac{\dot{\Psi}}{v} \Big), \nonumber \\
+ \dot{v} = & a_\mathtt{long}, \nonumber \\
+ \dot{s}_x = & v \cos(\beta + \Psi), \nonumber \\
+ \dot{s}_y = & v \sin(\beta + \Psi), \nonumber
+\end{flalign}
+under consideration of \eqref{eq:remainingRestrictions}-\eqref{eq:lateralRestriction}. Please note that in contrast to this work, other works often only consider constant velocity when referring to a single-track model (see e.g. \cite[Sec.~2.3]{Rajamani2012}). Also, the weight transfer between the front and rear axle is often neglected in single-track models (see e.g. \cite{Jeon2011}). Note that we do not use the cornering stiffness $C$, as is typically done for single-track models, but separate the effect of the friction coefficient $\mu$, the cornering stiffness coefficient $C_{S}$, and the vertical force $F_z$, such that $C_i = \mu C_{S,i} F_{z,i}$ and $i=\{f,r\}$ for the front and rear axle. This separation is done because the friction coefficient is the most dominant parameter modeling the influence of weather.
+
+\begin{figure}[h]
+ \centering
+ \footnotesize
+ \psfrag{a}[c]{$\begin{bmatrix} s_x \\ s_y \end{bmatrix}$}
+ \psfrag{b}[c]{$\Psi$}
+ \psfrag{c}[c]{$\beta$}
+ \psfrag{d}[c]{$l_r$}
+ \psfrag{e}[c]{$l_f$}
+ \psfrag{f}[c]{$\delta$}
+ \psfrag{x}[c]{$x$}
+ \psfrag{y}[c]{$y$}
+ \psfrag{v}[c]{$v$}
+ \includegraphics[width=10cm]{./figures/bicycleModel.eps}
+ \caption{Single-track model.}
+ \label{fig:bicycleModel}
+\end{figure}
+
+
+
+\subsection{State Space Model}
+
+The single-track model requires a few more state variables compared to the kinematic single-track model. In order to share the constraint function in \eqref{eq:KSconstraints}, we keep the numbering of state variables shared with the kinematic single-track model:
+\begin{flalign*}
+ x_1 = s_x, \quad x_2 = s_y, \quad x_3 = \delta, \quad x_4 = v, \quad x_5 = \Psi, \quad x_6 = \dot{\Psi}, \quad x_7 = \beta. &&
+\end{flalign*}
+The input variables are identical to \eqref{eq:inputVariables}. Inserting the state and input variables into \eqref{eq:ST} and directly considering the constraints on steering, velocity, and acceleration, results in the single-track model for $\mathbf{|x_4|\geq0.1}$:
+\begin{flalign}
+ \dot{x}_1 = & x_4 \cos(x_5 + x_7), && \nonumber \\
+ \dot{x}_2 = & x_4 \sin(x_5 + x_7), \nonumber \\
+ \dot{x}_3 = & f_{steer}(x_3, u_1), && \text{see \eqref{eq:steeringRestriction}} \nonumber \\
+ \dot{x}_4 = & f_{acc}(x_4, u_2), && \text{see \eqref{eq:accelerationRestriction}} \nonumber \\
+ \dot{x}_5 = & x_6, \nonumber \\
+ \dot{x}_6 = & \frac{\mu m}{I_z(l_r + l_f)} \Big(l_f C_{S,f} (g l_r - u_2 h_{cg}) x_3 + \left( l_r C_{S,r}(g l_f + u_2 h_{cg}) - l_f C_{S,f} (g l_r - u_2 h_{cg}) \right) x_7 \nonumber \\
+ & - \left(l_f^2 C_{S,f} (g l_r - u_2 h_{cg}) + l_r^2 C_{S,r}(g l_f + u_2 h_{cg}) \right) \frac{x_6}{x_4} \Big), \nonumber \\
+ \dot{x}_7 = & \frac{\mu}{x_4(l_r + l_f)} \Big( C_{S,f}(g l_r - u_2 h_{cg}) x_3 - (C_{S,r}(g l_f + u_2 h_{cg}) + C_{S,f}(g l_r - u_2 h_{cg})) x_7 \nonumber \\
+ & + (C_{S,r}(g l_f + u_2 h_{cg})l_r - C_{S,f}(g l_r - u_2 h_{cg})l_f) \frac{x_6}{x_4} \Big) - x_6. \label{eq:slipAngle_ST}
+\end{flalign}
+Due to the special choice of state variables, the constraint is identical to \eqref{eq:KSconstraints}. The single-track model becomes singular for small velocities. For this reason, we switch to the kinematic model for velocities below $0.1$m/s. The derivatives $\dot{x}_1$ up to $\dot{x}_5$ are obtained as for the kinematic model. The derivative $\dot{x}_6$ is obtained by computing the derivative of $\dot{x}_5$ of the kinematic model. The single-track model for $\mathbf{|x_4|<0.1}$ is
+\begin{flalign} \label{eq:smallVelocityModel}
+ \dot{x}_1 = & x_4 \cos(x_5), && \nonumber \\
+ \dot{x}_2 = & x_4 \sin(x_5), \nonumber \\
+ \dot{x}_3 = & f_{steer}(x_3, u_1), && \text{see \eqref{eq:steeringRestriction}} \nonumber \\
+ \dot{x}_4 = & f_{acc}(x_4, u_2), && \text{see \eqref{eq:accelerationRestriction}} \nonumber \\
+ \dot{x}_5 = & \frac{x_4}{l_{wb}} \tan(x_3), \nonumber \\
+ \dot{x}_6 = & \frac{f_{acc}(x_4, u_2)}{l_{wb}} \tan(x_3) + \frac{x_4}{l_{wb} \cos^2(x_3)} f_{steer}(x_3, u_1), \nonumber \\
+ \dot{x}_7 = & 0
+\end{flalign}
+When switching to the kinematic model, the slip angle does not exist anymore, which would require to set $x_7=0$. While such a reset could be realized by a hybrid automaton \cite{Alur1995}, we have not implemented this for simplicity. Our implementation only ensures that $\dot{x}_7 = 0$ so that we can provide the model in the standard form $\dot{x} = f(x,u)$ as required by most solvers. Since $x_7$ is already small when the velocity is slightly above $0.1$ m/s, we argue that the reset can be safely ignored.
+
+\subsection{Parameters}
+
+
+The parameters of the single-track model are listed in Tab.~\ref{tab:vehicleParametersST} and the constraint parameters are shown in Tab.~\ref{tab:constraintParameters}.
+
+
+\begin{table}[h]
+\caption{Vehicle Parameters for the single-track model (values have been obtained according to Sec.~\ref{sec:parameterConversion}).}
+{\small
+\begin{center}\label{tab:vehicleParametersST}
+\begin{tabular}{lllclll}
+ \toprule
+ \multicolumn{3}{c}{\textbf{vehicle parameter}} & \phantom{a} & \multicolumn{3}{c}{\textbf{vehicle identifier}} \\ \cmidrule{1-3} \cmidrule{5-7}
+ \textbf{name} & \textbf{symbol} & \textbf{unit} && \textbf{1} & \textbf{2} & \textbf{3} \\ \hline
+ vehicle length & $l$ & [m] && $4.298$ & $4.508$ & $4.569$ \\
+ vehicle width & $w$ & [m] && $1.674$ & $1.610$ & $1.844$ \\
+ total vehicle mass & $m$ & $10^3$[kg] && $1.225$ & $1.093$ & $1.478$ \\
+ moment of inertia for entire mass about z axis & $I_z$ & $10^3$[kg\,m$^2$] && $1.538$ & $1.791$ & $2.473$ \\
+ distance from center of gravity to front axle & $\a$ & [m] && $0.883$ & $1.156$ & $1.150$ \\
+ distance from center of gravity to rear axle & $\b$ & [m] && $1.508$ & $1.422$ & $1.321$ \\
+ center of gravity height of total mass & $h_{cg}$ & [m] && $0.557$ & $0.574$ & $0.747$ \\
+ cornering stiffness coefficient (front) & $C_{S,f}$ & [1/rad] && $20.89$ & $20.89$ & $20.89$ \\
+ friction coefficient & $\mu$ & [-] && $1.048$ & $1.048$ & $1.048$ \\
+ \bottomrule
+\end{tabular}
+\end{center}}
+\end{table}
+
+
+
+
+\section{Multi-Body Model (MB)} \label{sec:MBmodel}
+
+Although the previously introduced single-track model considers already many important effects of vehicle dynamics, it does not consider the vertical load of all $4$ wheels due to roll, pitch, and yaw, their individual spin and slip, and nonlinear tire dynamics. An example where a multi-body model is used for motion planning of a road vehicle is \cite{Bertolazzi2007}. Although many commercial multi-body models for vehicle dynamics exist\footnote{\href{https://www.carsim.com/}{www.carsim.com}, \href{https://www.tesis-dynaware.com}{www.tesis-dynaware.com}, \href{http://www.mscsoftware.com/de/product/adams}{www.mscsoftware.com}}, those models are proprietary and thus not appropriate for a benchmark that requires public accessibility. Our multi-body model is taken out of \cite[Appendix A]{Allen1992}, which is one of few detailed and accessible multi-body dynamics descriptions. For easy use, we have translated the equations in \cite[Appendix A]{Allen1992} into a state space model, which is more suitable for implementation in ordinary-differential-equation solvers. A MATLAB and a Python implementation can be found on \href{http://commonroad.in.tum.de}{commonroad.in.tum.de}.
+
+The multi-body dynamics is described by $3$ masses: The unsprung mass and the sprung mass of the front and rear axles. The forces between these masses are described by the dynamics of the suspension and the tire model. We consider all suspension forces in \cite[Appendix A]{Allen1992} originating from springs, dampers, and anti-roll bars. We do not consider flexibilities in the steering system, bump stops, and squat/lift forces caused by the suspension geometry. All considered vehicles have an independent suspension so that we do not show the equations for solid axes. For the tire dynamics we use the PAC2002 Magic-Formula tire model, which is widely used in industry \cite{Adams2011}. The combined lateral and longitudinal tire forces are computed from the slip angle, the camber angle, and the vertical tire force described in \cite[Appendix A]{Allen1992}. The tire parameters for all $4$ wheels are taken from the example of a PAC2002 tire property file in \cite{Adams2011}. Rewriting all equations as a state space model yields $29$ state variables. All state variables, including their initial values, are listed in Tab.~\ref{tab:fullModelInitialStates}, where the pairs $LF$, $RF$, $LR$, $RR$ indicate left/right and front/rear.
+
+Compared to \cite[Appendix A]{Allen1992} the equations are presented in an order so that equations depend on previously computed results, making it possible to directly implement then; see our MATLAB and Python implementation on \href{http://commonroad.in.tum.de}{commonroad.in.tum.de}.
+
+\subsection{State Variables}
+
+We group the state variables into \textit{vehicle body}, \textit{front axle}, \textit{rear axle}, \textit{wheels}, and \textit{auxiliary}.
+
+\paragraph{Vehicle body}
+
+\begin{flalign*}
+ x_1 =& s_x \quad (\text{x-position in a global coordinate system}), && \\
+ x_2 =& s_y \quad (\text{y-position in a global coordinate system}), \\
+ x_3 =& \delta \quad (\text{steering angle of front wheels}), \\
+ x_4 =& v_x \quad (\text{velocity in longitudinal direction in the vehicle-fixed coordinate system}), \\
+ x_5 =& \Psi \quad (\text{yaw angle}), \\
+ x_6 =& \dot{\Psi} \quad (\text{yaw rate}), \\
+ x_7 =& \Phi_S \quad (\text{roll angle}), \\
+ x_8 =& \dot{\Phi}_S \quad (\text{roll rate}), \\
+ x_9 =& \Theta_S \quad (\text{pitch angle}), \\
+ x_{10} =& \dot{\Theta}_S \quad (\text{pitch rate}), \\
+ x_{11} =& v_y \quad (\text{velocity in lateral direction in the vehicle-fixed coordinate system}), \\
+ x_{12} =& s_z \quad (\text{z-position (height) from ground}), \\
+ x_{13} =& v_z \quad (\text{velocity in vertical direction perpendicular to road plane}), \\
+\end{flalign*}
+
+\paragraph{Front axle}
+
+\begin{flalign*}
+ x_{14} =& \Phi_{UF} \quad (\text{roll angle front}), && \\
+ x_{15} =& \dot{\Phi}_{UF} \quad (\text{roll rate front}), \\
+ x_{16} =& v_{y,UF} \quad (\text{velocity in y-direction front}), \\
+ x_{17} =& s_{z,UF} \quad (\text{z-position front}), \\
+ x_{18} =& v_{z,UF} \quad (\text{velocity in z-direction front}),
+\end{flalign*}
+
+
+\paragraph{Rear axle}
+
+\begin{flalign*}
+ x_{19} =& \Phi_{UR} \quad (\text{roll angle rear}), && \\
+ x_{20} =& \dot{\Phi}_{UR} \quad (\text{roll rate rear}), \\
+ x_{21} =& v_{y,UR} \quad (\text{velocity in y-direction rear}), \\
+ x_{22} =& s_{z,UR} \quad (\text{z-position rear}), \\
+ x_{23} =& v_{z,UR} \quad (\text{velocity in z-direction rear}),
+\end{flalign*}
+
+\paragraph{Wheels}
+
+\begin{flalign*}
+ x_{24} =& \omega_{LF} \quad (\text{left front wheel angular velocity}), && \\
+ x_{25} =& \omega_{RF} \quad (\text{right front wheel angular velocity}), \\
+ x_{26} =& \omega_{LR} \quad (\text{left rear wheel angular velocity}), \\
+ x_{27} =& \omega_{RR} \quad (\text{right rear wheel angular velocity}),
+\end{flalign*}
+
+\paragraph{Auxiliary}
+
+\begin{flalign*}
+ x_{28} =& \delta_{y,f} \quad (\text{front lateral displacement of sprung mass due to roll}), && \\
+ x_{29} =& \delta_{y,r} \quad (\text{rear lateral displacement of sprung mass due to roll}).
+\end{flalign*}
+
+
+
+
+
+% x27 -> x1 \\
+% x28 -> x2 \\
+% -> x3 (new) \\
+% x7 -> x4 \\
+% x1 -> x5 \\
+% x2 -> x6 \\
+% x7 -> (); delete \\
+% x3 -> x7 \\
+% x4 -> x8 \\
+% x5 -> x9 \\
+% x6 -> x10 \\
+% x8 -> x11 \\
+% x9 -> x12 \\
+% x10 -> x13 \\
+% x11 -> x14 \\
+% x12 -> x15 \\
+% x15 -> x16 \\
+% x17 -> x17 \\
+% x18 -> x18 \\
+% x13 -> x19 \\
+% x14 -> x20 \\
+% x16 -> x21 \\
+% x19 -> x22 \\
+% x20 -> x23 \\
+% x21 -> x24 \\
+% x22 -> x25 \\
+% x23 -> x26 \\
+% x24 -> x27 \\
+% x25 -> x28 \\
+% x26 -> x29 \\
+% u1 -> x3
+
+
+\subsection{Auxiliary Variables} \label{sec:auxVariables}
+
+\paragraph{Slip angle and velocity at center of gravity} These equations are derived by the author:
+%
+\begin{flalign*}
+ \beta =& \arctan \left(\frac{x_{11}}{x_{4}}\right) && \\
+ v_{CG} =& \sqrt{x_{4}^2 + x_{11}^2}
+\end{flalign*}
+
+\paragraph{Vertical tire forces} These equations are obtained from \cite[eq.~A48-A51]{Allen1992}:
+%
+\begin{flalign*}
+ F_{z,LF} =& (x_{17} + R_{w}(\cos(x_{14}) - 1) - \frac{1}{2}T_{f}\sin(x_{14}))K_{zt} && \\
+ F_{z,RF} =& (x_{17} + R_{w}(\cos(x_{14}) - 1) + \frac{1}{2}T_{f}\sin(x_{14}))K_{zt} \\
+ F_{z,LR} =& (x_{22} + R_{w}(\cos(x_{19}) - 1) - \frac{1}{2}T_{r}\sin(x_{19}))K_{zt} \\
+ F_{z,RR} =& (x_{22} + R_{w}(\cos(x_{19}) - 1) + \frac{1}{2}T_{r}\sin(x_{19}))K_{zt}
+\end{flalign*}
+
+
+\paragraph{Individual tire velocities} These equations are derived from \cite[eq.~A56-A59]{Allen1992} assuming that the rear wheels cannot be steered and by using $x_{4}\tan(\beta) = x_{11}$ from \cite[p.~A45]{Allen1992}:
+%
+\begin{flalign*}
+ u_{w,LF} =& (x_{4} + \frac{1}{2}T_{f}\, x_{6})\cos(x_{3}) + (x_{11} + \a\, x_{6})\sin(x_{3}) && \\
+ u_{w,RF} =& (x_{4} - \frac{1}{2}T_{f}\, x_{6})\cos(x_{3}) + (x_{11} + \a\, x_{6})\sin(x_{3}) \\
+ u_{w,LR} =& x_{4} + \frac{1}{2}T_{r}\, x_{6} \\
+ u_{w,RR} =& x_{4} - \frac{1}{2}T_{r}\, x_{6} \\
+\end{flalign*}
+
+
+\paragraph{Longitudinal slip} These equations are taken from \cite[eq.~A60]{Allen1992}:
+%
+\begin{flalign*}
+ s_{LF} =& 1 - \frac{R_{w}\, x_{24}}{u_{w,LF}} && \\
+ s_{RF} =& 1 - \frac{R_{w}\, x_{25}}{u_{w,RF}} \\
+ s_{LR} =& 1 - \frac{R_{w}\, x_{26}}{u_{w,LR}} \\
+ s_{RR} =& 1 - \frac{R_{w}\, x_{27}}{u_{w,RR}}
+\end{flalign*}
+
+
+\paragraph{Lateral slip angles} These equations are taken from \cite[eq.~A42-A45]{Allen1992} assuming that the rear wheels cannot be steered:
+%
+\begin{flalign*}
+ \alpha_{LF} =& \arctan \left(\frac{x_{11} + \a\, x_{6} - x_{15}(R_{w} - x_{17})}{x_{4} + \frac{1}{2}T_{f}\, x_{6}} \right) - x_{3} && \\
+ \alpha_{RF} =& \arctan \left(\frac{x_{11} + \a\, x_{6} - x_{15}(R_{w} - x_{17})}{x_{4} - \frac{1}{2}T_{f}\, x_{6}} \right) - x_{3} \\
+ \alpha_{LR} =& \arctan \left(\frac{x_{11} - \b\, x_{6} - x_{20}(R_{w} - x_{22})}{x_{4} + \frac{1}{2}T_{r}\, x_{6}} \right) \\
+ \alpha_{RR} =& \arctan \left(\frac{x_{11} - \b\, x_{6} - x_{20}(R_{w} - x_{22})}{x_{4} - \frac{1}{2}T_{r}\, x_{6}} \right)
+\end{flalign*}
+
+\paragraph{Auxiliary suspension movement} These equations are taken from \cite[eq.~A23a-A26a]{Allen1992} and \cite[eq.~A23b-A26b]{Allen1992}:
+%
+\begin{flalign*}
+ z_{S,LF} =& \frac{h_s - R_{w} + x_{17} - x_{12}}{\cos(x_{7})} - h_s + R_{w} + \a\, x_{9} + \frac{1}{2}(x_{7} - x_{14})T_{f} && \\
+ z_{S,RF} =& \frac{h_s - R_{w} + x_{17} - x_{12}}{\cos(x_{7})} - h_s + R_{w} + \a\, x_{9} - \frac{1}{2}(x_{7} - x_{14})T_{f} \\
+ z_{S,LR} =& \frac{h_s - R_{w} + x_{22} - x_{12}}{\cos(x_{7})} - h_s + R_{w} - \b\, x_{9} + \frac{1}{2}(x_{7} - x_{19})T_{r} \\
+ z_{S,RR} =& \frac{h_s - R_{w} + x_{22} - x_{12}}{\cos(x_{7})} - h_s + R_{w} - \b\, x_{9} - \frac{1}{2}(x_{7} - x_{19})T_{r} \\
+\end{flalign*}
+%
+\begin{flalign*}
+ \dot{z}_{S,LF} =& x_{18} - x_{13} + \a\, x_{10} + \frac{1}{2}(x_{8} - x_{15})T_{f} && \\
+ \dot{z}_{S,RF} =& x_{18} - x_{13} + \a\, x_{10} - \frac{1}{2}(x_{8} - x_{15})T_{f} \\
+ \dot{z}_{S,LR} =& x_{23} - x_{13} - \b\, x_{10} + \frac{1}{2}(x_{8} - x_{20})T_{r} \\
+ \dot{z}_{S,RR} =& x_{23} - x_{13} - \b\, x_{10} - \frac{1}{2}(x_{8} - x_{20})T_{r} \text{ ('$-$' changed to '$+$' compared to \cite[eq.~A26b]{Allen1992})}
+\end{flalign*}
+
+\paragraph{Camber angles} These equations are taken from \cite[eq.~A27-A30]{Allen1992}:
+%
+\begin{flalign*}
+ \gamma_{LF} =& x_{7} + D_f\, z_{S,LF} + E_f(z_{S,LF})^2 && \\
+ \gamma_{RF} =& x_{7} - D_f\, z_{S,RF} - E_f(z_{S,RF})^2 \\
+ \gamma_{LR} =& x_{7} + D_r\, z_{S,LR} + E_r(z_{S,LR})^2 \\
+ \gamma_{RR} =& x_{7} - D_r\, z_{S,RR} - E_r(z_{S,RR})^2
+\end{flalign*}
+
+\paragraph{Auxiliary movements/forces for compliant joint equations} These equations are taken from \cite[eq.~A61-A68]{Allen1992}:
+
+\begin{flalign*}
+ \Delta z_{F} =& h_s - R_{w} + x_{17} - x_{12} && \\
+ \Delta z_{R} =& h_s - R_{w} + x_{22} - x_{12} &&
+\end{flalign*}
+\begin{flalign*}
+ \Delta \phi_{F} =& x_{7} - x_{14} &&\\
+ \Delta \phi_{R} =& x_{7} - x_{19} &&
+\end{flalign*}
+\begin{flalign*}
+ \Delta \dot{\phi}_{F} =& x_{8} - x_{15} &&\\
+ \Delta \dot{\phi}_{R} =& x_{8} - x_{20} &&
+\end{flalign*}
+\begin{flalign*}
+ \Delta \dot{z}_{F} =& x_{18} - x_{13} &&\\
+ \Delta \dot{z}_{R} =& x_{23} - x_{13} &&
+\end{flalign*}
+\begin{flalign*}
+ \Delta \dot{y}_{F} =& x_{11} + \a\, x_{6} - x_{16} &&\\
+ \Delta \dot{y}_{R} =& x_{11} - \b\, x_{6} - x_{21} &&
+\end{flalign*}
+\begin{flalign*}
+ \Delta_{F} =& \Delta z_{F}\sin(x_{7}) - x_{28}\cos(x_{7}) - (h_{RAF} - R_{w})\sin(\Delta \phi_{F}) &&\\
+ \Delta_{R} =& \Delta z_{R}\sin(x_{7}) - x_{29}\cos(x_{7}) - (h_{RAR} - R_{w})\sin(\Delta \phi_{R}) &&
+ \end{flalign*}
+\begin{flalign*}
+ \dot{\Delta}_{F} =& (\Delta z_{F}\cos(x_{7}) + x_{28}\sin(x_{7}))x_{8}
+ + \Delta \dot{z}_{F}\sin(x_{7}) - \Delta \dot{y}_{F}\cos(x_{7}) - (h_{RAF} - R_{w})\cos(\Delta \phi_{F}) \Delta \dot{\phi}_{F} &&\\
+ \dot{\Delta}_{R} =& (\Delta z_{R}\cos(x_{7}) + x_{29}\sin(x_{7}))x_{8}
+ + \Delta \dot{z}_{R}\sin(x_{7}) - \Delta \dot{y}_{R}\cos(x_{7}) - (h_{RAR} - R_{w})\cos(\Delta \phi_{R}) \Delta \dot{\phi}_{R} &&
+\end{flalign*}
+\begin{flalign*}
+ F_{RAF} =& \Delta_{F} \, K_{RAS} + \dot{\Delta}_{F} \, K_{RAD} &&\\
+ F_{RAR} =& \Delta_{R} \, K_{RAS} + \dot{\Delta}_{R} \, K_{RAD} &&
+\end{flalign*}
+
+% \paragraph{Squat/lift forces depending on acceleration and deceleration} These equations are taken from \cite[eq.~A32-A35]{Allen1992}:
+% \begin{flalign*}
+% F_{SQ,LF} =& \left(K_{SL,F} + \frac{z_{S,LF}}{L_{SA,F}}\right)(F_{y,LF}\cos(x_{7}) - F_{z,LF}\sin(x_{7})) - F_{x,LF} \, K_{SAD,F} &&\\
+% F_{SQ,RF} =& \left(K_{SL,F} + \frac{z_{S,RF}}{L_{SA,F}}\right)(-F_{y,RF}\cos(x_{7}) + F_{z,RF}\sin(x_{7})) - F_{x,LR} \, K_{SAD,F} &&\\
+% F_{SQ,LR} =& \left(K_{SL,R} + \frac{z_{S,LR}}{L_{SA,R}}\right)(F_{y,LR}\cos(x_{7}) - F_{z,LR}\sin(x_{7})) + F_{x,LR} \, K_{SAD,R} &&\\
+% F_{SQ,RR} =& \left(K_{SL,R} + \frac{z_{S,RR}}{L_{SA,R}}\right)(-F_{y,RR}\cos(x_{7}) + F_{z,RR}\sin(x_{7})) + F_{x,RR} \, K_{SAD,R}
+% \end{flalign*}
+
+\paragraph{Auxiliary suspension forces (bump stop neglected; squat/lift forces neglected)} These equations are taken from \cite[eq.~A23-A26]{Allen1992} and \cite[p.~A51]{Allen1992}:
+\begin{flalign*}
+ F_{S,LF} =& \frac{m_{s} \, g \, \b}{2(\a+\b)} - z_{S,LF} \, K_{S,F} - \dot{z}_{S,LF} \, K_{SD,F} + \frac{(x_{7} - x_{14}) K_{TS,F}}{T_{f}} &&\\
+ F_{S,RF} =& \frac{m_{s} \, g \, \b}{2(\a+\b)} - z_{S,RF} \, K_{S,F} - \dot{z}_{S,RF} \, K_{SD,F} - \frac{(x_{7} - x_{14}) K_{TS,F}}{T_{f}} &&\\
+ F_{S,LR} =& \frac{m_{s} \, g \, \a}{2(\a+\b)} - z_{S,LR} \, K_{S,R} - \dot{z}_{S,LR} \, K_{SD,R} + \frac{(x_{7} - x_{19}) K_{TS,R}}{T_{r}} &&\\
+ F_{S,RR} =& \frac{m_{s} \, g \, \a}{2(\a+\b)} - z_{S,RR} \, K_{S,R} - \dot{z}_{S,RR} \, K_{SD,R} - \frac{(x_{7} - x_{19}) K_{TS,R}}{T_{r}} &&
+\end{flalign*}
+
+
+\paragraph{Auxiliary variables sprung mass} These equations are taken from \cite[eq.~A7-A12]{Allen1992}:
+\begin{flalign*}
+ \sX =& F_{x,LR} + F_{x,RR} + (F_{x,LF} + F_{x,RF})\cos(x_{3}) - (F_{y,LF} + F_{y,RF})\sin(x_{3}) &&\\
+ \sN =& (F_{y,LF} + F_{y,RF})\a\cos(x_{3}) + (F_{x,LF} + F_{x,RF})\a\sin(x_{3}) \\
+ & + (F_{y,RF} - F_{y,LF})\frac{1}{2}T_{f}\sin(x_{3}) + (F_{x,LF} - F_{x,RF})\frac{1}{2}T_{f}\cos(x_{3}) \\
+ & + (F_{x,LR} - F_{x,RR})\frac{1}{2}T_{r} - (F_{y,LR} + F_{y,RR})\b &&\\
+ \sY_{s} =& (F_{RAF} + F_{RAR})\cos(x_{7}) + (F_{S,LF} + F_{S,LR} + F_{S,RF} + F_{S,RR})\sin(x_{7}) &&\\
+ \sL =& \frac{1}{2}F_{S,LF} \, T_{f} + \frac{1}{2}F_{S,LR} \, T_{r} - \frac{1}{2}F_{S,RF} \, T_{f} - \frac{1}{2}F_{S,RR} \, T_{r} \\
+ & - \frac{F_{RAF}}{\cos(x_{7})}(h_s - x_{12} - R_{w} + x_{17} - (h_{RAF} - R_{w})\cos(x_{14})) \\
+ & - \frac{F_{RAR}}{\cos(x_{7})}(h_s - x_{12} - R_{w} + x_{22} - (h_{RAR} - R_{w})\cos(x_{19})) &&\\
+ \sZ_{s} =& (F_{S,LF} + F_{S,LR} + F_{S,RF} + F_{S,RR})\cos(x_{7}) - (F_{RAF} + F_{RAR})\sin(x_{7}) &&\\
+ \sM_{s} =& \a(F_{S,LF} + F_{S,RF}) - \b(F_{S,LR} + F_{S,RR}) + ((F_{x,LF} + F_{x,RF})\cos(x_{3}) \\
+ & - (F_{y,LF} + F_{y,RF})\sin(x_{3}) + F_{x,LR} + F_{x,RR})(h_s - x_{12})
+\end{flalign*}
+
+
+% \paragraph{Drag (Coment: needs discussion; why are not all formulas considered?)} These equations are based on \cite[eq.~A16]{Allen1992}:
+% \begin{flalign*}
+% X_A =& \frac{1}{2}\prho \pA C_{d}\, x_{4}^2 &&\\
+% \sX =& \sX - X_A (\text{renaming of $\sX$ required})
+% \end{flalign*}
+
+\paragraph{Auxiliary variables unsprung mass} These equations are taken from \cite[eq.~A20-A22]{Allen1992} assuming that only the front wheels can be steered:
+\begin{flalign*}
+ \sL_{uf} =& \frac{1}{2}F_{S,RF}\, T_{f} - \frac{1}{2}F_{S,LF}\, T_{f} - F_{RAF}(h_{RAF} - R_{w}) \\
+ & + F_{z,LF}(R_{w}\sin(x_{14}) + \frac{1}{2}T_{f}\cos(x_{14}) - K_{LT}\, F_{y,LF}) \\
+ & - F_{z,RF}(-R_{w}\sin(x_{14}) + \frac{1}{2}T_{f}\cos(x_{14}) + K_{LT}\, F_{y,RF}) \\
+ & - ((F_{y,LF} + F_{y,RF})\cos(x_{3}) + (F_{x,LF} + F_{x,RF})\sin(x_{3}))(R_{w} - x_{17}) && \\
+ \sL_{ur} =& \frac{1}{2}F_{S,RR}\, T_{r} - \frac{1}{2}F_{S,LR}\, T_{r} - F_{RAR}(h_{RAR} - R_{w}) \\
+ & + F_{z,LR}(R_{w}\sin(x_{19}) + \frac{1}{2}T_{r}\cos(x_{19}) - K_{LT}\, F_{y,LR}) \\
+ & - F_{z,RR}(-R_{w}\sin(x_{19}) + \frac{1}{2}T_{r}\cos(x_{19}) + K_{LT}\, F_{y,RR}) \\
+ & - (F_{y,LR} + F_{y,RR})(R_{w} - x_{22}) && \\
+ \sZ_{uf} =& F_{z,LF} + F_{z,RF} + F_{RAF}\sin(x_{7}) - (F_{S,LF} + F_{S,RF})\cos(x_{7}) && \\
+ \sZ_{ur} =& F_{z,LR} + F_{z,RR} + F_{RAR}\sin(x_{7}) - (F_{S,LR} + F_{S,RR})\cos(x_{7}) && \\
+ \sY_{uf} =& (F_{y,LF} + F_{y,RF})\cos(x_{3}) + (F_{x,LF} + F_{x,RF})\sin(x_{3}) \\
+ & - F_{RAF}\cos(x_{7}) - (F_{S,LF} + F_{S,RF})\sin(x_{7}) && \\
+ \sY_{ur} =& (F_{y,LR} + F_{y,RR}) \\
+ & - F_{RAR}\cos(x_{7}) - (F_{S,LR} + F_{S,RR})\sin(x_{7})
+\end{flalign*}
+
+
+\subsection{Tire Formulas} \label{sec:tire}
+
+We are using the Pacejka 2002 tire model \cite{Pacejka2002}, which is one of the most popular tire models. The exact parameters for a realistic tire are taken out of \cite{Adams2011}. For our particular model, we make the following assumptions:
+\begin{itemize}
+ \item Turn slip is neglected, so that $\forall i: \xi_i =1$;
+ \item Effect of load increment is neglected so that $df_z=0$ (see \cite[PAC2002, eq.~16]{Adams2011});
+ \item All scaling factors are set as $\forall i: \lambda_i = 1$.
+\end{itemize}
+
+
+
+\paragraph{Longitudinal tire forces using the magic formula for pure slip}
+$\forall i\in \{LF, RF, LR, RR\}:$
+\begin{flalign*}
+ S_{Hx} =& p_{Hx1} && \text{(see \cite[PAC2002, eq.~27]{Adams2011})} \\
+ S_{Vx,i} =& F_{z,i} \, p_{Vx1} && \text{(see \cite[PAC2002, eq.~28]{Adams2011})} \\
+ \kappa_{i} =& -s_{i} && \text{(coord. trans. \cite{Allen1992} $\to$ \cite{Adams2011})} \\
+ \kappa_{x,i} =& \kappa_{i} + S_{Hx} && \text{(see \cite[PAC2002, eq.~19]{Adams2011})} \\
+ \mu_{x,i} =& p_{Dx1}(1-p_{Dx3} \, \gamma_{i}^2) && \text{(see \cite[PAC2002, eq.~23]{Adams2011})} \\
+ C_x =& p_{Cx1} && \text{(see \cite[PAC2002, eq.~21]{Adams2011})} \\
+ D_{x,i} =& \mu_x \, F_{z,i} && \text{(see \cite[PAC2002, eq.~22]{Adams2011})} \\
+ E_x =& p_{Ex1} && \text{(see \cite[PAC2002, eq.~24]{Adams2011})} \\
+ K_{x,i} =& F_{z,i} \, p_{Kx1} && \text{(see \cite[PAC2002, eq.~25]{Adams2011})} \\
+ B_{x,i} =& \frac{K_{x,i}}{C_{x} \, D_{x,i}} && \text{(see \cite[PAC2002, eq.~26]{Adams2011})} \\
+ F_{x0,i} =& D_{x,i}\sin(C_x \arctan(B_{x,i} \, \kappa_{x,i} - E_x(B_{x,i} \, \kappa_{x,i} \\
+ & - \arctan(B_{x,i} \, \kappa_{x,i}))) + S_{Vx,i}) && \text{(see \cite[PAC2002, eq.~18]{Adams2011})} \\
+\end{flalign*}
+
+\paragraph{Lateral tire forces using the magic formula for pure slip}
+$\forall i\in \{LF, RF, LR, RR\}:$
+\begin{flalign}
+ S_{Hy,i} =& \sign(\gamma_{i})(p_{Hy1} + p_{Hy3} \, \abs(\gamma_{i})) && \text{(see \cite[PAC2002, eq.~40]{Adams2011})} \nonumber \\
+ S_{Vy,i} =& \sign(\gamma_{i}) F_{z,i}(p_{Vy1} + p_{Vy3} \, \abs(\gamma_{i})) && \text{(see \cite[PAC2002, eq.~41]{Adams2011})} \nonumber \\
+ \alpha_{y,i} =& \alpha_{i} + S_{Hy,i} && \text{(see \cite[PAC2002, eq.~31]{Adams2011})} \nonumber \\
+ \mu_{y,i} =& p_{Dy1}(1-p_{Dy3}\gamma_{i}^2) && \text{(see \cite[PAC2002, eq.~35]{Adams2011})} \nonumber \\
+ C_y =& p_{Cy1} && \text{(see \cite[PAC2002, eq.~33]{Adams2011})} \nonumber \\
+ D_{y,i} =& \mu_{y,i} \, F_{z,i} && \text{(see \cite[PAC2002, eq.~34]{Adams2011})} \nonumber \\
+ E_y =& p_{Ey1} && \text{(see \cite[PAC2002, eq.~36]{Adams2011})} \nonumber \\
+ K_{y,i} =& F_{z,i} p_{Ky1} \qquad \text{(simplified $K_{y0}$ to $p_{Ky1} \, F_{z,i}$)} && \text{(see \cite[PAC2002, eq.~38]{Adams2011})} \nonumber \\
+ B_{y,i} =& \frac{K_{y,i}}{C_y \, D_{y,i}} && \text{(see \cite[PAC2002, eq.~39]{Adams2011})} \nonumber \\
+ F_{y0,i} =& D_{y,i}\sin(C_y \arctan(B_{y,i} \, \alpha_{y,i} - E_y(B_{y,i} \, \alpha_{y,i} \nonumber \\
+ & - \arctan(B_{y,i}\alpha_{y,i})))) + S_{Vy,i} && \text{(see \cite[PAC2002, eq.~30]{Adams2011})} \label{eq:magicFormulaLateral}
+\end{flalign}
+
+
+\paragraph{Longitudinal tire forces for combined slip}
+$\forall i\in \{LF, RF, LR, RR\}:$
+\begin{flalign*}
+ S_{Hx\alpha} =& r_{Hx1} && \text{(see \cite[PAC2002, eq.~65]{Adams2011})} \\
+ \alpha_{s,i} =& \alpha_{i} + S_{Hx\alpha} && \text{(see \cite[PAC2002, eq.~60]{Adams2011})} \\
+ B_{x\alpha,i} =& r_{Bx1}\cos(\arctan(r_{Bx2} \kappa_{i})) && \text{(see \cite[PAC2002, eq.~61]{Adams2011})} \\
+ C_{x\alpha} =& r_{Cx1} && \text{(see \cite[PAC2002, eq.~62]{Adams2011})} \\
+ E_{x\alpha} =& r_{Ex1} && \text{(see \cite[PAC2002, eq.~64]{Adams2011})} \\
+ D_{x\alpha,i} =& F_{x0,i}/\cos\bigg(C_{x\alpha} \arctan\Big(B_{x\alpha,i} \, S_{Hx\alpha} - E_{x\alpha}\big(B_{x\alpha,i} \, S_{Hx\alpha} \\
+ & - \arctan(B_{x\alpha,i} \, S_{Hx\alpha})\big)\Big)\bigg) && \text{(see \cite[PAC2002, eq.~63]{Adams2011})} \\
+ F_{x,i} =& D_{x\alpha,i}\cos(C_{x\alpha} \arctan(B_{x\alpha,i} \, \alpha_{s,i} - E_{x\alpha}(B_{x\alpha} \, \alpha_{s,i} \\
+ & - \arctan(B_{x\alpha,i} \, \alpha_{s,i})))) && \text{(see \cite[PAC2002, eq.~59]{Adams2011})} \\
+\end{flalign*}
+
+
+\paragraph{Lateral tire forces for combined slip}
+$\forall i\in \{LF, RF, LR, RR\}:$
+\begin{flalign*}
+ S_{Hy\kappa} =& r_{Hy1} && \text{(see \cite[PAC2002, eq.~74]{Adams2011})} \\
+ \kappa_{s,i} =& \kappa_{i} + S_{Hy\kappa} && \text{(see \cite[PAC2002, eq.~69]{Adams2011})} \\
+ B_{y\kappa,i} =& r_{By1} \cos(\arctan(r_{By2}(\alpha_{i}-r_{By3}))) && \text{(see \cite[PAC2002, eq.~70]{Adams2011})} \\
+ C_{y\kappa} =& r_{Cy1} && \text{(see \cite[PAC2002, eq.~71]{Adams2011})} \\
+ E_{y\kappa} =& r_{Ey1} && \text{(see \cite[PAC2002, eq.~73]{Adams2011})} \\
+ D_{y\kappa} =& F_{y0,i}/\cos\bigg(C_{y\kappa} \arctan\Big(B_{y\kappa,i} \, S_{Hy\kappa} - E_{y\kappa}\big(B_{y\kappa} \, S_{Hy\kappa} \\
+ & - \arctan(B_{y\kappa,i} \, S_{Hy\kappa})\big)\Big)\bigg) && \text{(see \cite[PAC2002, eq.~72]{Adams2011})} \\
+ D_{vy\kappa,i} =& \mu_{y,i} \, F_{z,i}(r_{Vy1} + r_{Vy3} \gamma_{i}) \cos(\arctan(r_{Vy4} \, \alpha_{i})) && \text{(see \cite[PAC2002, eq.~76]{Adams2011})} \\
+ S_{vy\kappa,i} =& D_{vy\kappa,i}\sin(r_{Vy5} \arctan(r_{Vy6} \, \kappa_{i})) && \text{(see \cite[PAC2002, eq.~75]{Adams2011})} \\
+ F_{y,i} =& D_{y\kappa} \cos(C_{y\kappa} \arctan(B_{y\kappa,i} \, \kappa_{s,i} - E_{y\kappa} (B_{y\kappa,i} \kappa_{s,i} \\
+ & - \arctan(B_{y\kappa,i} \, \kappa_{s,i})))) + S_{Vy\kappa} && \text{(see \cite[PAC2002, eq.~68]{Adams2011})} \\
+\end{flalign*}
+
+
+\subsection{Vehicle Dynamics}
+
+Based on the auxiliary variables from Sec.~\ref{sec:auxVariables}, the tire forces from Sec.~\ref{sec:tire}, and steering constraints, we compute the right hand side of the vehicle dynamics $\dot{x} = f(x,u)$ in this subsection:
+
+\paragraph{Dynamics common with single-track model}
+\begin{flalign*}
+ \dot{x}_{1} =& v_{CG} \cos(\beta + x_{5}) && \text{(from \eqref{eq:ST})}\\
+ \dot{x}_{2} =& v_{CG} \sin(\beta + x_{5}) && \text{(from \eqref{eq:ST})}\\
+ \dot{x}_3 = & f_{steer}(x_3, u_1), && \text{see \eqref{eq:steeringRestriction}} \\
+ \dot{x}_{4} =& \frac{1}{m} \sX + x_{6}\, x_{11} && \text{(from \cite[eq.~A1]{Allen1992})}\\
+ \dot{x}_{5} =& x_{6} && \text{(trivial)} \\
+ \dot{x}_{6} =& \frac{1}{I_{z} - \frac{I_{xz,s}^2}{I_{\phi,s}}}\left(\sN + \frac{I_{xz,s}}{I_{\phi,s}} \sL_{s} \right) && \text{(see below)}
+\end{flalign*}
+
+Derivation of $\dot{x}_6$:
+\begin{flalign}
+ I_{z} \dot{x}_6 - I_{xz,s} \dot{x}_8 =& \sN && \text{(from \cite[eq.~A2]{Allen1992})} \label{eq:rollAndYaw_1}\\
+ I_{\phi,s} \dot{x}_8 - I_{xz,s} \dot{x}_6 =& \sL_{s} && \text{(from \cite[eq.~A4]{Allen1992})} \label{eq:rollAndYaw_2}
+\end{flalign}
+Multiplying \eqref{eq:rollAndYaw_2} with $\frac{I_{xz,s}}{I_{\phi,s}}$ and adding the result to \eqref{eq:rollAndYaw_1} yields
+\begin{flalign*}
+ \left(I_{z} - \frac{I_{xz,s}^2}{I_{\phi,s}}\right)\dot{x}_6 =& \sN + \frac{I_{xz,s}}{I_{\phi,s}} \sL_{s} &&
+\end{flalign*}
+
+\paragraph{Remaining sprung mass dynamics}
+\begin{flalign*}
+ \dot{x}_{7} =& x_{8} && \text{(trivial)} \\
+ \dot{x}_{8} =& \frac{1}{(I_{\phi,s} - \frac{I_{xz,s}^2}{I_{z}})}\left(\frac{I_{xz,s}}{I_{z}} \sN + \sL\right) && \text{(see below)} \\
+ \dot{x}_{9} =& x_{10} && \text{(trivial)} \\
+ \dot{x}_{10} =& \frac{\sM_{s}}{I_{y,s}} && \text{(from \cite[eq.~A6]{Allen1992})} \\
+ \dot{x}_{11} =& \frac{1}{m_{s}} \sY_{s} - x_{6}\, x_{4} && \text{(see below)} \\
+ \dot{x}_{12} =& x_{13} && \text{(trivial)} \\
+ \dot{x}_{13} =& g - \frac{1}{m_{s}} \sZ_{s} && \text{(from \cite[eq.~A5]{Allen1992})}
+\end{flalign*}
+
+Derivation of $\dot{x}_8$: \\
+Multiplying \eqref{eq:rollAndYaw_1} with $\frac{I_{xz,s}}{I_{z}}$ and adding the result to \eqref{eq:rollAndYaw_2} yields
+\begin{flalign*}
+ \left(I_{\phi,s} - \frac{I_{xz,s}^2}{I_{z}}\right)\dot{x}_8 =& \frac{I_{xz,s}}{I_{z}}\sN + \sL_{s} &&
+\end{flalign*}
+
+Derivation of $\dot{x}_{11}$:
+Using $a_y = \dot{x}_{11} + x_{6}\, x_{4}$ from \cite[eq.~A46]{Allen1992} and inserting it in \cite[eq.~A3]{Allen1992} results in
+\begin{flalign} \label{eq:lateralAcceleration}
+ m_s(\dot{x}_{11} + x_{6}\, x_{4}) =& \sY_{s} &&
+\end{flalign}
+
+\paragraph{Unsprung mass dynamics (front)}
+\begin{flalign*}
+ \dot{x}_{14} =& x_{15} && \text{(trivial)} \\
+ \dot{x}_{15} =& \frac{\sL_{uf}}{I_{u,f}} && \text{(from \cite[eq.~A17]{Allen1992})} \\
+ \dot{x}_{16} =& \frac{\sY_{uf}}{m_{u,f}} - x_{6}\, x_{4} && \text{(from \eqref{eq:lateralAcceleration} and \cite[eq.~A19]{Allen1992})} \\
+ \dot{x}_{17} =& x_{18} && \text{(trivial)} \\
+ \dot{x}_{18} =& g - \frac{\sZ_{uf}}{m_{u,f}} && \text{(from \cite[eq.~A18]{Allen1992})}
+\end{flalign*}
+
+\paragraph{Unsprung mass dynamics (rear)}
+\begin{flalign*}
+ \dot{x}_{19} =& x_{20} && \text{(trivial)} \\
+ \dot{x}_{20} =& \frac{\sL_{ur}}{I_{u,r}} && \text{(from \cite[eq.~A17]{Allen1992})} \\
+ \dot{x}_{21} =& \frac{\sY_{ur}}{m_{u,r}} - x_{6}\, x_{4} && \text{(from \eqref{eq:lateralAcceleration} and \cite[eq.~A19]{Allen1992})} \\
+ \dot{x}_{22} =& x_{23} && \text{(trivial)} \\
+ \dot{x}_{23} =& g - \frac{\sZ_{ur}}{m_{u,r}} && \text{(from \cite[eq.~A18]{Allen1992})}
+\end{flalign*}
+
+\paragraph{Convert acceleration input to brake and engine torque} This is an addition to \cite[Appendix A]{Allen1992}, which does not explicitly create a positive engine torque if the acceleration demand is positive and a braking torque if the acceleration demand is negative. We also consider maximum velocities and maximum engine power using $f_{acc}(x_4, u_2)$:
+\begin{flalign*}
+ u_2 := & f_{acc}(x_4, u_2), && \text{see \eqref{eq:accelerationRestriction}} \\
+ T_B =& \begin{cases}
+ 0, \text{ for } u_{2}>0 \\
+ m \, R_{w} \, u_{2}, \text{ otherwise}
+ \end{cases} &&\\
+ T_E =& \begin{cases}
+ m \, R_{w} \, u_{2}, \text{ for } u_{2}>0 \\
+ 0, \text{ otherwise}
+ \end{cases}
+\end{flalign*}
+
+\paragraph{Wheel dynamics} It is assumed that the brake torque $T_B$ in \cite[eq.~A55]{Allen1992} is split between the front and rear axle according to the newly introduced parameter $T_{s,b}$ (torque split, brake) and the engine torque $T_E$ in \cite[eq.~A55]{Allen1992} is split between the front and rear axle according to the newly introduced parameter $T_{s,e}$ (torque split, engine)
+\begin{flalign*}
+ \dot{x}_{24} =& \frac{1}{I_{y,w}}(-R_{w} \, F_{x,LF} + \frac{1}{2}T_{s,b} \, T_B + \frac{1}{2}T_{s,e} \, T_E) && \text{(based on \cite[eq.~A55]{Allen1992})} \\
+ \dot{x}_{25} =& \frac{1}{I_{y,w}}(-R_{w} \, F_{x,RF} + \frac{1}{2}T_{s,b} \, T_B + \frac{1}{2}T_{s,e} \, T_E) && \text{(based on \cite[eq.~A55]{Allen1992})} \\
+ \dot{x}_{26} =& \frac{1}{I_{y,w}}(-R_{w} \, F_{x,LR} + \frac{1}{2}(1-T_{s,b}) \, T_B + \frac{1}{2}(1-T_{s,e}) T_E) && \text{(based on \cite[eq.~A55]{Allen1992})} \\
+ \dot{x}_{27} =& \frac{1}{I_{y,w}}(-R_{w} \, F_{x,RR} + \frac{1}{2}(1-T_{s,b}) \, T_B + \frac{1}{2}(1-T_{s,e}) T_E) && \text{(based on \cite[eq.~A55]{Allen1992})}
+\end{flalign*}
+
+
+\paragraph{Negative wheel spin forbidden} This is an addition to \cite[Appendix A]{Allen1992}, which forbids wheel spin in negative direction. When using brake torque, the wheels stay at rest when not moving anymore instead of accelerating in negative direction:
+\begin{flalign*}
+ \forall i\in\{24,...,27\}: \quad \dot{x}_{i} =& 0 \text{ for } x_{i}<0, \quad x_{i}:=0 \text{ for } x_{i}<0 &&\\
+\end{flalign*}
+
+\paragraph{Compliant joint equations}
+\begin{flalign*}
+ \dot{x}_{28} =& \Delta \dot{y}_{F} && \text{(trivial)} \\
+ \dot{x}_{29} =& \Delta \dot{y}_{R} && \text{(trivial)}
+\end{flalign*}
+
+\paragraph{Small absolute velocities}
+
+As for the single-track model, the multi-body model becomes singular for small absolute velocities. For this reason, we use the kineamtic model for $\dot{x}_{1}$-$\dot{x}_{6}$ as presented in \eqref{eq:smallVelocityModel}. Further, all slip angles are set to zero: $s_{LF}=s_{RF}=s_{LR}=s_{RR}=\alpha_{LF}=\alpha_{RF}=\alpha_{LR}=\alpha_{RR}=0$.
+
+\subsection{Parameters}
+
+The multi-body model requires in total $69$ parameters, of which $37$ specify the vehicle and $32$ the tires. The vehicle parameters of the multi-body model can be found in Tab.~\ref{tab:vehicleParametersMB} and the ones for the tire model in Tab.~\ref{tab:tireParameters}. Please note that in the first version of this document we only consider one parameterization for the tires.
+
+
+\begin{table}[h!tb]
+\caption{Vehicle Parameters for the multi-body model (see \cite[Table~E-5.]{Allen1992}; values have been converted to SI units). Abbreviations: center of gravity (c.g.), moment of inertia (m.o.i.), suspension (susp.), auxiliary (aux.), damping (damp.).}
+{\small
+\begin{center}\label{tab:vehicleParametersMB}
+\begin{tabular}{lllclll}
+ \toprule
+ \multicolumn{3}{c}{\textbf{vehicle parameter}} & \phantom{a} & \multicolumn{3}{c}{\textbf{vehicle identifier}} \\ \cmidrule{1-3} \cmidrule{5-7}
+ \textbf{name} & \textbf{symbol} & \textbf{unit} && \textbf{1} & \textbf{2} & \textbf{3} \\ \hline
+ vehicle length & $l$ & [m] && $4.298$ & $4.508$ & $4.569$ \\
+ vehicle width & $w$ & [m] && $1.674$ & $1.610$ & $1.844$ \\
+ total vehicle mass & $m$ & $10^3$[kg] && $1.225$ & $1.093$ & $1.478$ \\ %MASS
+ sprung mass & $m_s$ & $10^3$[kg] && $1.094$ & $0.965$ & $1.316$ \\ %SMASS
+ unsprung mass (front) & $m_{u,f}$ & [kg] && $65.67$ & $63.79$ & $81.14$ \\ %UMASSF
+ unsprung mass (rear) & $m_{u,f}$ & [kg] && $65.67$ & $63.79$ & $81.14$ \\ %UMASSR
+ distance from c.g. to front axle & $\a$ & [m] && $0.883$ & $1.156$ & $1.150$ \\ %LENA
+ distance from c.g. to rear axle & $\b$ & [m] && $1.508$ & $1.422$ & $1.321$ \\ %LENB
+ m.o.i. for $m_s$ in roll & $I_{\phi,s}$ & [kg\,m$^2$] && $244.0$ & $207.2$ & $479.8$ \\ %IXS
+ m.o.i. for sprung mass about y axis & $I_{y,s}$ & $10^3$[kg\,m$^2$] && $1.342$ & $1.565$ & $2.204$ \\ %IYS
+ m.o.i. for entire mass about z axis & $I_z$ & $10^3$[kg\,m$^2$] && $1.538$ & $1.791$ & $2.473$ \\ %IZZ
+ cross product of inertia for $m_s$ (x-z axis) & $I_{xz,s}$ & [kg\,m$^2$] && $0$ & $0$ & $0$ \\ %IXZ
+ susp. spring rate at each wheel (front) & $K_{S,F}$ & $10^4$[N/m] && $ 2.189$ & $2.445$ & $3.357$ \\ %KSF
+ susp. damping rate at each wheel (front) & $K_{SD,F}$ & $10^3$[N/m] && $1.459$ & $1.786$ & $2.405$ \\ %KSDF
+ susp. spring rate at each wheel (rear) & $K_{S,R}$ & $10^4$[N/m] && $2.189$ & $1.963$ & $3.912$ \\ %KSR
+ susp. damping rate at each wheel (rear) & $K_{SD,R}$ & $10^3$[N/m] && $1.459$ & $1.649$ & $2.769$ \\ %KSDR
+ track width (front) & $T_f$ & [m] && $1.389$ & $1.386$ & $1.574$ \\ %TRWF
+ track width (rear) & $T_r$ & [m] && $1.423$ & $1.364$ & $1.543$ \\ %TRWB
+ lateral spring rate at compliant pin joint %between $M_s$ and $M_u$
+ & $K_{RAS}$ & $10^5$[N/m] && $1.751$ & $1.751$ & $1.751$ \\ %KRAS
+ aux. torsional roll stiffness per axle (front) & $K_{TS,F}$ & $10^4$[Nm/rad] && $-1.28$ & $-0.69$ & $-3.39$ \\ %KTSF
+ aux. torsional roll stiffness per axle (rear) & $K_{TS,R}$ & $10^3$[Nm/rad] && $0$ & $-2.643$ & $-7.731$ \\ %KTSR
+ damp. rate at pin joint btw. $m_s$ and $m_u$ & $K_{RAD}$ & $10^4$[Ns/m] && $1.021$ & $1.021$ & $1.021$ \\ %KRADP
+ vertical spring rate of tire & $K_{ZT}$ & $10^5$[N/m] && $1.897$ & $1.582$ & $2.126$ \\ %TSPRINGR
+ c.g. height of total mass & $h_{cg}$ & [m] && $0.557$ & $0.574$ & $0.747$ \\ %HCG
+ height of roll axis above ground (front) & $h_{RA,F}$ & [m] && $0$ & $0$ & $0$ \\ %HRAF
+ height of roll axis above ground (rear) & $h_{RA,R}$ & [m] && $0$ & $0$ & $0$ \\ %HRAR
+ $m_s$ c.g. height above ground & $h_s$ & [m] && $0.594$ & $0.613$ & $0.804$ \\ %HS
+ m.o.i. for $m_{u,f}$ about x-axis (front) & $I_{u,f}$ & [kg\,m$^2$] && $32.53$ & $30.67$ & $50.27$ \\ %IXUF
+ m.o.i. for $m_{u,r}$ about x-axis (rear) & $I_{u,r}$ & [kg\,m$^2$] && $32.53$ & $29.67$ & $48.34$ \\ %IXUR
+ wheel inertia & $I_{y,w}$ & [kg\,m$^2$] && $1.700$ & $1.700$ & $1.700$ \\
+ lateral compliance rate of tire, wheel, susp. & $K_{LT}$ & $10^{-5}$[m/N] && $1.027$ & $1.643$ & $1.223$ \\
+ effective tire radius (RR from \cite[PAC2002]{Adams2011}) & $R_w$ & [m] && $0.344$ & $0.344$ & $0.344$ \\
+ torque split of brakes & $T_{s,b}$ & [-] && $0.76$ & $0.66$ & $0.64$ \\
+ torque split of engine & $T_{s,e}$ & [-] && $1$ & $0$ & $0$ \\
+ suspension parameter (front) & $D_f$ & [rad/m] && $-0.62$ & $-0.39$ & $0$ \\
+ suspension parameter (rear) & $D_r$ & [rad/m] && $-0.21$ & $-0.90$ & $0$ \\
+ suspension parameter (front) & $E_f$ & [rad/m$^2$] && $0$ & $0$ & $0$ \\
+ suspension parameter (rear) & $E_r$ & [rad/m$^2$] && $0$ & $0$ & $0$ \\
+ \bottomrule %LR
+\end{tabular}
+\end{center}}
+\end{table}
+
+% brake distribution formula: 1.2*l_r/(l_f+l_r)
+
+
+% not considered: KSTR, KSCF, KSCB, DLADV, DYADV, DNADV, KTL, HCG, KBS, HBS, KRM, XACC, ZACC, DRAGC, LENS, LM, KBTF, KVB, KMB, KBPVL, swz, sww, KCF, LSO, KLAGV
+% not considered: HF, HR, KSAF, KSAR, BF, BR, CF, CR, DF, DR, EF, ER, KSLF, KSLR, LSAF, LSAR, KSADF, KSADR, KSAD2F, KSAD2R, KACK
+% to be discussed: DENSITY, REFAREA, CDX, AEROVEL (aerodynamics)
+
+\begin{table}[h!tb]
+\caption{Tire Parameters (see \cite[Sec.~PAC2002]{Adams2011}).}
+{\small
+\begin{center}\label{tab:tireParameters}
+\begin{tabular}{lllclll}
+ \toprule
+ %\multicolumn{2}{c}{\textbf{tire parameter}} & \\ \hline
+ \textbf{name} & \textbf{symbol} & \textbf{value} \\ \hline
+ \multicolumn{3}{c}{\textbf{longitudinal parameters}} \\ \hline
+ shape factor for longitudinal force & $p_{Cx1}$ & $1.6411$ \\
+ longitudinal friction $\mu_x$ at $F_{z0}$ & $p_{Dx1}$ & $1.1739$ \\
+ variation of friction $\mu_x$ with camber & $p_{Dx3}$ & $0$ \\
+ longitudinal curvature at $F_{z0}$ & $p_{Ex1}$ & $0.4640$ \\
+ longitudinal slip stiffness at $F_{z0}$ & $p_{Kx1}$ & $22.303$ \\
+ horizontal shift at $F_{z0}$ & $p_{Hx1}$ & $1.2297\cdot 10^{-3}$ \\
+ vertical shift at $F_{z0}$ & $p_{Vx1}$ & $-8.8098\cdot 10^{-6}$ \\
+ slope factor for combined slip $F_x$ reduction & $r_{Bx1}$ & $13.276$ \\
+ variation of slope $F_x$ reduction with $\kappa$ & $r_{Bx2}$ & $-13.778$ \\
+ shape factor for combined slip $F_x$ reduction & $r_{Cx1}$ & $1.2568$ \\
+ curvature factor of combined $F_x$ & $r_{Ex1}$ & $0.6522$ \\
+ shift factor for combined slip $F_x$ reduction & $r_{Hx1}$ & $5.0722\cdot 10^{-3}$ \\ \hline
+ \multicolumn{3}{c}{\textbf{lateral parameters}} \\ \hline
+ shape factor for lateral forces & $p_{Cy1}$ & $1.3507$ \\
+ lateral friction $\mu_y$ & $p_{Dy1}$ & $1.0489$ \\
+ variation of friction $\mu_y$ with squared camber & $p_{Dy3}$ & $-2.8821$ \\
+ lateral curvature at $F_{z0}$ & $p_{Ey1}$ & $-7.4722\cdot 10^{-3}$ \\
+ maximum value of stiffness & $p_{Ky1}$ & $-21.920$ \\
+ horizontal shift at $F_{z0}$ & $p_{Hy1}$ & $2.6747\cdot 10^{-3}$ \\
+ variation of shift with camber & $p_{Hy3}$ & $3.1415\cdot 10^{-2}$ \\
+ vertical shift at $F_{z0}$ & $p_{Vy1}$ & $3.7318\cdot 10^{-2}$ \\
+ variation of vertical shift with camber & $p_{Vy3}$ & $-0.3293$ \\
+ slope factor for combined $F_y$ reduction & $r_{By1}$ & $7.1433$ \\
+ variation of slope $F_y$ reduction with $\alpha$ & $r_{By2}$ & $9.1916$ \\
+ shift term for $\alpha$ in slope $F_y$ reduction & $r_{By3}$ & $-2.7856\cdot 10^{-2}$ \\
+ shape factor for combined $F_y$ reduction & $r_{Cy1}$ & $1.0719$ \\
+ curvature factor of combined $F_y$ & $r_{Ey1}$ & $-0.2757$ \\
+ shift factor for combined $F_y$ reduction & $r_{Hy1}$ & $5.7448\cdot 10^{-6}$ \\
+ $\kappa$-induced side force at $F_{z0}$ & $r_{Vy1}$ & $-2.7825\cdot 10^{-2}$ \\
+ variation of $S_{Vy\kappa}/\mu_y \, F_z$ with camber & $r_{Vy3}$ & $-0.2756$ \\
+ variation of $S_{Vy\kappa}/\mu_y \, F_z$ with $\alpha$ & $r_{Vy4}$ & $12.120$ \\
+ variation of $S_{Vy\kappa}/\mu_y \, F_z$ with $\kappa$ & $r_{Vy5}$ & $1.9$ \\
+ variation of $S_{Vy\kappa}/\mu_y \, F_z$ with $\arctan(\kappa)$ & $r_{Vy6}$ & $-10.704$ \\
+ \bottomrule
+\end{tabular}
+\end{center}}
+\end{table}
+
+
+\section{Conversion of Initial States and Parameters} \label{sec:conversion}
+
+As previously mentioned, we do not only like to provide different vehicle models of increasing complexity, but also would like to make results easily comparable. For this reason, we try to specify as many parameters sets for the complicated multi-body model and convert them to simpler models. Similarly, we convert initial states across different models so that results can be compared in the best possible way. We start with converting parameters and afterwards discuss how initial states can be shared across models.
+
+\subsection{Conversion of Parameters} \label{sec:parameterConversion}
+
+
+\paragraph{From multi-body model to single-track model}
+
+The single-track model only requires $7$ parameters, see Tab.~\ref{tab:vehicleParametersST}. Out of those parameters, $6$ parameters are identical to the multi-body model and do not require any conversion:
+\begin{itemize}
+ \item total vehicle mass $m$,
+ \item moment of inertia for entire mass about z axis $I_z$,
+ \item distance from center of gravity to front axle $l_f$,
+ \item distance from center of gravity to rear axle $l_r$,
+ \item height of center of gravity above ground $h_{cg}$,
+ \item friction coefficient $\mu$, which is represented by the parameter $p_{Dy1}$ in \cite[Sec.~PAC2002]{Adams2011}.
+\end{itemize}
+Only the cornering stiffness coefficient has to be computed: As stated in Sec.~\ref{sec:STmodel}, we separate the effect of the friction coefficient $\mu$, the cornering stiffness coefficient $C_{S}$, and the vertical force $F_z$, such that the cornering stiffness becomes $C_i = \mu C_{S,i} F_{z,i}$ and $i=\{f,r\}$ for the front and rear axle. The cornering stiffness $C_{i}$ is by definition the linear approximation of the lateral tire forces. By linearizing the magic tire formula in \eqref{eq:magicFormulaLateral} at zero slip angle, one obtains the following value for the cornering stiffness:
+\begin{flalign*}
+C_{i} = B_y \, C_y \, D_y = \frac{K_{y,i}}{C_y \, D_{y,i}} C_y \, D_y = K_{y,i} = F_{z,i} \, p_{Ky1} &&
+\end{flalign*}
+so that
+\begin{flalign*}
+C_{S,i} = \frac{p_{Ky1}}{\mu} = \frac{p_{Ky1}}{p_{Dy1}}. &&
+\end{flalign*}
+
+%It remains to obtain the constraint parameters for the single-track model:
+
+
+\paragraph{From single-track model to kinematic single-track model}
+
+This conversion is trivial: We only require the wheelbase $l_{wb} = l_f + l_r$.
+
+
+
+\subsection{Conversion of Initial States}
+
+We like to initialize all models such that their initial behavior is simliar. However, it is possible to initialize the model differently, but then this different initialization has to be explicitly stated. In order to facilitate switching between different models, we share the following initial values across all models:
+\begin{itemize}
+ \item initial x-position $s_{x,0}$,
+ \item initial y-position $s_{y,0}$,
+ \item initial steering angle $\delta_0$,
+ \item initial velocity $v_0$,
+ \item initial orientation $\Psi_0$,
+ \item initial yaw rate $\dot{\Psi}_0$,
+ \item initial slip angle $\beta_0$.
+\end{itemize}
+
+\paragraph{Multi-body model}
+
+Since the multi-body model is tedious to initialize, we propose an initialization using the following auxiliary values:
+\begin{itemize}
+ \item $\omega_0 = \frac{v_{x,0}}{R}$ (no wheel spin, $R$: effective tire radius),
+ \item $v_{x,0} = \cos(-\beta_0) v_0$ (velocity in longitudinal direction from slip angle $\beta$),
+ \item $v_{y,0} = \sin(-\beta_0) v_0$ (velocity in lateral direction from slip angle $\beta$),
+ \item $v_{yf,0} = v_{y,0} + l_f \dot{\Psi}_0$ (lateral velocity at front axle from velocity at c.g. and yaw rate),
+ \item $v_{yr,0} = v_{y,0} - l_r \dot{\Psi}_0$ (lateral velocity at rear axle from velocity at c.g. and yaw rate),
+ \item $z_{i,0} = \frac{F_{zi,0}}{2K_{zt}}$ ($i\in\{r,f\}$) (height over ground so that springs support weight),
+% \item for $|v_0|\geq 0.1$: $\delta_0 = \frac{v_0(l_f + l_r)}{C_{S,f} \, g \, l_r \, \mu}\dot{\Psi}_0 + \frac{1}{C_{S,f} \, l_r}((C_{S,r} \, l_f + C_{S,f} \, l_r)\beta_0 - (C_{S,r} - C_{S,f})l_r \, l_f \, \frac{\dot{\Psi}_0}{v_0}$ (initial steering angle from steady state of slip angle).
+% \item for $|v_0|< 0.1$: $\delta_0 = \arctan\left(\frac{l_{wb}}{v} \dot{\Psi}\right)$ (slip angle neglected; steering angle follows from kinematic vehicle model).
+\end{itemize}
+% The initial steering angle is derived for $v_0\geq 1$ from demanding that the slip angle $\beta$ of the single-track model is at steady state for $a_\mathtt{long} = 0$ (see \eqref{eq:slipAngle_ST}):
+% \begin{flalign*}
+% \frac{x_4(l_r + l_f)}{C_{S,f}g l_r \mu}x_6 + \frac{1}{C_{S,f} l_r} \Big( (C_{S,r} l_f + C_{S,f} l_r ) x_7 - (C_{S,r} - C_{S,f}) \frac{l_f l_r x_6}{x_4} \Big) = & x_3 .
+% \end{flalign*}
+% For smaller initial velocities ($|v_0|< 0.1$), the above formula becomes singular and slip can be negelected. In that case we use the constraint from the kinematic model:
+% \begin{flalign*}
+% \dot{x}_5 = & \frac{x_4}{l_{wb}} \tan(x_3).
+% \end{flalign*}
+Inserting these values in Tab.~\ref{tab:fullModelInitialStates} initializes the multi-body model as proposed in this document.
+
+\begin{table}[h!tb]
+\caption{Initial values of the multi-body model.}
+\begin{center}\label{tab:fullModelInitialStates}
+\begin{tabular}{lllllllll}
+ \hline
+ \multicolumn{3}{c}{\textbf{sprung mass}} & \multicolumn{3}{c}{\textbf{unsprung mass}} & \multicolumn{3}{c}{\textbf{other}} \\ \hline
+ & & \textbf{init.} & & & \textbf{init.} & & & \textbf{init.}\\
+ \textbf{name} & \textbf{symb.} & \textbf{val.} & \textbf{name} & \textbf{symb.} & \textbf{val.} & \textbf{name} & \textbf{symb.} & \textbf{val.} \\ \hline
+ yaw ang. & $x_{5,0}$ & $\Psi_0$ & roll ang. (f) & $x_{14,0}$ & $0$ & wheel speed (LF) & $x_{24,0}$ & $\omega_0$ \\
+ yaw rate & $x_{6,0}$ & $\dot{\Psi}_0$ & roll rate (f) & $x_{15,0}$ & $0$ & wheel speed (RF) & $x_{25,0}$ & $\omega_0$ \\
+ roll angle & $x_{7,0}$ & $0$ & roll ang. (r) & $x_{19,0}$ & $0$ & wheel speed (LR) & $x_{26,0}$ & $\omega_0$ \\
+ roll rate & $x_{8,0}$ & $0$ & roll rate (r) & $x_{20,0}$ & $0$ & wheel speed (RR) & $x_{27,0}$ & $\omega_0$ \\
+ pitch ang. & $x_{9,0}$ & $0$ & y-vel. (f) & $x_{16,0}$ & $v_{yf,0}$ & pin joint diff. (f) & $x_{28,0}$ & $0$ \\
+ pitch rate & $x_{10,0}$ & $0$ & y-vel. (r) & $x_{21,0}$ & $v_{yr,0}$ & pin joint diff. (r) & $x_{29,0}$ & $0$ \\
+ x-velocity & $x_{4,0}$ & $v_{x,0}$ & z-pos. (f) & $x_{17,0}$ & $z_{f,0}$ & x-position & $x_{1,0}$ & $s_{x,0}$ \\
+ y-velocity & $x_{11,0}$ & $v_{y,0}$ & z-vel. (f) & $x_{18,0}$ & $0$ & y-position & $x_{2,0}$ & $s_{y,0}$ \\
+ z-position & $x_{12,0}$ & $0$ & z-pos. (r) & $x_{22,0}$ & $z_{r,0}$ & steering angle & $x_{3,0}$ & $\delta_0$ \\
+ z-velocity & $x_{13,0}$ & $0$ & z-vel. (r) & $x_{23,0}$ & $0$ \\ \hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+
+%x7 = ΦS roll angle
+%x8 = ΦS roll rate
+%x9 = ΘS pitch angle
+%x10 = ΘS pitch rate
+%x11 = v velocity in y-direction
+%x12 = zS z-position
+%x13 = w velocity in z-direction
+
+%x14 = ΦUF roll angle front
+%x15 = ΦUF roll rate front
+%x16 = vUF velocity in y-direction front
+%x17 = zUF z-position front
+%x18 = wUF velocity in z-direction front
+
+%x19 = ΦUR roll angle rear
+%x20 = ΦUR roll rate rear
+%x21 = vUR velocity in y-direction rear
+%x22 = zUR z-position rear
+%x23 = wUR velocity in z-direction rear
+
+%x24 = ωLF left front wheel angular speed
+%x25 = ωRF right front wheel angular speed
+%x26 = ωLR left rear wheel angular speed
+%x27 = ωRR right rear wheel angular speed
+
+%x28 = delta_y_f
+%x29 = delta_y_r
+
+\paragraph{Single-track model} The initialization of the single-track model is straightforward:
+\begin{flalign*}
+ x_{1,0} = s_{x,0}, \quad x_{2,0} = s_{y,0}, \quad x_{3,0} = \delta_0, \quad x_{4,0} = v_0, \quad x_{5,0} = \Psi_0, \quad x_{6,0} = \dot{\Psi}_0, \quad x_{7,0} = \beta_0. &&
+\end{flalign*}
+
+\paragraph{Kinematic single-track model} Similarly, the initialization of the kinematic single-track model is straightforward:
+\begin{flalign*}
+ x_{1,0} = s_{x,0}, \quad x_{2,0} = s_{y,0}, \quad x_{3,0} = \delta_0, \quad x_{4,0} = v_0, \quad x_{5,0} = \Psi_0. &&
+\end{flalign*}
+
+\paragraph{Point-mass model} The initialization of the point-mass model only requires initial positions and velocities:
+\begin{flalign*}
+ x_{1,0} = s_{x,0}, \quad x_{2,0} = s_{y,0}, \quad x_{3,0} = v_0 \cos(\Psi_0) , \quad x_{4,0} = v_0 \sin(\Psi_0). &&
+\end{flalign*}
+
+\section{Examples} \label{sec:examples}
+
+In this section, we perform numerical experiments based on the parameters of vehicle 2 (BMW 320i): First, we compare the kinematic single-track model, the single-track model and the multi-body model in a left curve. Secod, we demonstrate understeering and oversteering for the multi-body model during cornering. For all experiments we use the following initial states:
+\begin{equation*}
+ s_{x,0} = s_{y,0} = \delta_0 = \Psi_0 = \dot{\Psi}_0 = \beta_0 = 0, \quad v_0 = 15.
+\end{equation*}
+The simulation time for all tests is $1$~s.
+
+\paragraph{Comparison of KS, ST and MB during cornering}
+
+We perform a left curve by choosing $v_\delta = 0.15$~[rad/s]. Fig.~\ref{fig:corneringPosition} shows the paths of the kinematic single-track model, the single-track model and the multi-body model. It can be easily seen that the kinematic single-track model realizes the tightest bend since it does not consider tire slip; the single-track model is a little wider due to considering tire slip. This effect is even stronger for the multi-body model since its vehicle model considers saturation of tire forces. This can be even better seen when comparing the slip angles of the single-track model and the multi-body model in Fig.~\ref{fig:corneringSlipAngle}.
+
+\begin{figure}[h!tb]
+ \centering
+ \footnotesize
+ \psfrag{a}[c][c]{x-position $s_x$}
+ \psfrag{b}[c][c]{y-position $s_y$}
+ \psfrag{c}[r][c]{\shortstack{KS model}}
+ \psfrag{d}[r][c]{\shortstack{ST model}}
+ \psfrag{e}[r][c]{\shortstack{MB model}}
+ %
+ \subfigure[Path of center of gravity.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/cornering_position_015_b.eps} \label{fig:corneringPosition}} \hspace{0.1cm}
+ %
+ \psfrag{a}[c][c]{time $t$}
+ \psfrag{b}[c][c]{slip angle $\beta$}
+ %
+ \subfigure[Slip angle.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/cornering_slipAngle_015_b.eps} \label{fig:corneringSlipAngle}}
+
+ \caption{Comparing the kinematic single-track (KS) model, the single-track (ST) model and the multi-body (MB) model during cornering.}
+\end{figure}
+
+\paragraph{Overstering and understeering of the multi-body model}
+
+During cornering, a vehicle tends to understeer when braking since typically more braking force is applied at the front brakes: Oversteering during braking would make a vehicle much less safe to drive. Oversteering can be achieved by accelerating with a rear-wheel-drive vehicle during cornering. Fig.~\ref{fig:cornerBrakeAcc_position} shows the paths of the multi-body model when using again $v_\delta = 0.15$~[rad/s] and in addition $a_\mathtt{long} = -0.7$~g for braking and $a_\mathtt{long} = 0.63$~g for acceleration. The tightest bend is realized by braking since the velocity drops and the widest bend is caused by accelerating since the velocity increases. It is evident that during braking we have understeer and during acceleration we have oversteer by observing the slip angle in Fig.~\ref{fig:cornerBrakeAcc_slipAngle}. This is also obvious from the orientation of the vehicle, where during acceleration, the vehicle turns into the corner as shown in Fig.~\ref{fig:cornerBrakeAcc_orientation}. Further, in Fig.~\ref{fig:cornerBrakeAcc_pitch} the pitch for braking shows that the vehicle is ``diving'' while the front lifts during acceleration. This plot also nicely shows the oscillation in the spring-mass-damper system since braking and acceleration is suddenly applied.
+
+\begin{figure}[h!tb]
+ \centering
+ \footnotesize
+ \psfrag{a}[c][c]{x-position $s_x$}
+ \psfrag{b}[c][c]{y-position $s_y$}
+ \psfrag{c}[r][c]{\shortstack{coasting}}
+ \psfrag{d}[r][c]{\shortstack{braking}}
+ \psfrag{e}[r][c]{\shortstack{accelerating}}
+ %
+ \subfigure[Path of center of gravity.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/position_cornerBrakeAcc_b.eps} \label{fig:cornerBrakeAcc_position}} \hspace{0.1cm}
+ %
+ \psfrag{a}[c][c]{time $t$}
+ \psfrag{b}[c][c]{slip angle $\beta$}
+ %
+ \subfigure[Slip angle.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/slipAngle_cornerBrakeAcc_b.eps} \label{fig:cornerBrakeAcc_slipAngle}} \\
+ %
+ \psfrag{a}[c][c]{time $t$}
+ \psfrag{b}[c][c]{orientation $\Psi$}
+ %
+ \subfigure[Orientation.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/orientation_cornerBrakeAcc_b.eps} \label{fig:cornerBrakeAcc_orientation}} \hspace{0.1cm}
+ %
+ \psfrag{a}[c][c]{time $t$}
+ \psfrag{b}[c][c]{pitch $\Theta_S$}
+ %
+ \subfigure[Pitch.]
+ {\includegraphics[width=0.45\columnwidth]{./figures/pitch_cornerBrakeAcc_b.eps} \label{fig:cornerBrakeAcc_pitch}}
+
+ \caption{Investigating oversteering and understeering for the multi-body model.}
+\end{figure}
+
+
+\section{Conclusions}
+
+This document describes four models for motion planning of automated vehicles as part of the \textit{CommonRoad} benchmark suite: point-mass model, kinematic single-track model, single-track model, and a multi-body model. To easily exchange models, we also present how to convert parameters and initial states from the multi-body model to simpler models. The sources of all equations are carefully referenced in this work and all models are available as MATLAB and Python code. Numerical experiments provide further insight into what effects certain models can show.
+
+
+\section*{Acknowledgment}
+
+\vspace{-0.2cm}
+The author gratefully acknowledge financial support by the Free State of Bavaria.
+
+
+
+\label{sec:bib}
+\bibliographystyle{plain}
+%\bibliographystyle{alpha}
+%\bibliographystyle{unsrt}
+%\bibliographystyle{abbrv}
+\bibliography{althoff_own,althoff_other}
+
+
+\end{document}
+
+% EOF
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