Ensuring drivability of planned motions using formal methods. - Bastian Schürmann; Daniel Hess; Jan Eilbrecht; Olaf Stursberg; Frank Köster; Matthias Althoff (ITSC, 2017)

Cooperative driving using a hierarchy of mixed-integer programming and tracking control. - Jan Eilbrecht; Olaf Stursberg (Intelligent Vehicles Symposium, 2017)

Model-predictive planning for autonomous vehicles anticipating intentions of vulnerable road users by artificial neural networks. - Jan Eilbrecht; Maarten Bieshaar; Stefan Zernetsch; Konrad Doll; Bernhard Sick; Olaf Stursberg (SSCI, 2017)

Optimization-Based Maneuver Automata for Cooperative Trajectory Planning of Autonomous Vehicles. - Jan Eilbrecht; Olaf Stursberg (ECC, 2018)

Reducing Computation Times for Planning of Reference Trajectories in Cooperative Autonomous Driving. - Jan Eilbrecht; Olaf Stursberg (IV, 2019)

Hierarchical solution of non-convex optimal control problems with application to autonomous driving. - Jan Eilbrecht; Olaf Stursberg (Eur. J. Control, 2019)

Probabilistic VRU Trajectory Forecasting for Model-Predictive Planning A Case Study: Overtaking Cyclists. - Jan Schneegans; Jan Eilbrecht; Stefan Zernetsch; Maarten Bieshaar; Konrad Doll; Olaf Stursberg; Bernhard Sick (IV Workshops, 2021)