John J. Leonard Jonathan P. How Seth J. Teller Mitch Berger Stefan Campbell Gaston A. Fiore Luke Fletcher Emilio Frazzoli Albert S. Huang Sertac Karaman Olivier Koch Yoshiaki Kuwata David Moore Edwin Olson Steve Peters Justin Teo Robert Truax Matthew Walter David Barrett Alexander Epstein Keoni Maheloni Katy Moyer Troy Jones Ryan Buckley Matthew E. Antone Robert Galejs Siddhartha Krishnamurthy Jonathan Williams A perception-driven autonomous urban vehicle. 727-774 2008 25 J. Field Robotics 10 http://dx.doi.org/10.1002/rob.20262 db/journals/jfr/jfr25.html#LeonardHTBCFFFHKKKMOPTTWBEMMJBAGKW08