Jan Quadflieg Mike Preuss Oliver Kramer Günter Rudolph Learning the track and planning ahead in a car racing controller. 395-402 2010 CIG http://doi.ieeecomputersociety.org/10.1109/ITW.2010.5593327 conf/cig/2010 db/conf/cig/cig2010.html#QuadfliegPKR10