Evolution of Bus Shuttle Service in Madrid Towards Autonomous Operation, A Practical Use Case. - Ángel Madridano; Sergio Campos; Joshué Manuel Pérez; Alfredo Valle; Diego Martín; Ray Alejandro Lattarulo; Miguel Ángel de Miguel; Carlos Sierra; Julián Del Olmo; César Omar Chacón; Felipe Jiménez; José Eugenio Naranjo; et al. (ITSC, 2023)