@article{Ferguson2018, author = "Dave Ferguson and Christoper Baker and Maxim Lickachev and John Dolan", title = "{A Reasoning Framework for Autonomous Urban Driving}", year = "2018", month = "6", url = "https://kilthub.cmu.edu/articles/journal_contribution/A_Reasoning_Framework_for_Autonomous_Urban_Driving/6550928", doi = "10.1184/R1/6550928.v1" }