Building a Credible Case for Safety: Waymo's Approach for the Determination of Absence of Unreasonable Risk. - Francesca Favaro; Laura Fraade-Blanar; Scott Schnelle; Trent Victor; Mauricio Peña; Johan Engström; JoJohn M. Scanlon; Kristofer D. Kusano; Dan Smith (CoRR, 2023)