Jonathan Bohren Tully Foote Jim Keller Alex Kushleyev Daniel D. Lee Alex Stewart Paul Vernaza Jason C. Derenick John R. Spletzer Brian Satterfield Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge. 231-255 2009 The DARPA Urban Challenge http://dx.doi.org/10.1007/978-3-642-03991-1_6 conf/darpa/2009 db/conf/darpa/urban2009.html#BohrenFKKLSVDSS09