Decentralised Cooperative Collision Avoidance with Reference-Free Model Predictive Control and Desired Versus Planned Trajectories. - Charles Wartnaby; Daniele Bellan (CoRR, 2019)

Decentralized Cooperative Collision Avoidance for Automated Vehicles: a Real-World Implementation. - Daniele Bellan; Charles Wartnaby (IV, 2020)