SAFEPED: agent-based environment for estimating accident risks at the road Black Spots (demonstration). - Gennady Waizman; Itzhak Benenson (AAMAS, 2012)

Micro-Simulation Model for Assessing the Risk of Vehicle-Pedestrian Road Accidents. - Gennady Waizman; Shraga Shoval; Itzhak Benenson (J. Intell. Transp. Syst., 2015)

Motion planning in dynamic environment using maneuverability maps. - Gennady Waizman; Shraga Shoval; Itzhak Benenson (Artif. Life Robotics, 2022)