Experience-Based Heuristic Search: Robust Motion Planning with Deep Q-Learning. - Julian Bernhard; Robert Gieselmann; Klemens Esterle; Alois C. Knoll (ITSC, 2018)

Spatiotemporal Motion Planning with Combinatorial Reasoning for Autonomous Driving. - Klemens Esterle; Patrick Hart; Julian Bernhard; Alois C. Knoll (ITSC, 2018)

Addressing Inherent Uncertainty: Risk-Sensitive Behavior Generation for Automated Driving using Distributional Reinforcement Learning. - Julian Bernhard; Stefan Pollok; Alois C. Knoll (IV, 2019)

A POMDP Maneuver Planner For Occlusions in Urban Scenarios. - Constantin Hubmann; Nils Quetschlich; Jens Schulz; Julian Bernhard; Daniel Althoff; Christoph Stiller (IV, 2019)

Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving. - Tobias Kessler; Julian Bernhard; Martin Buechel; Klemens Esterle; Patrick Hart; Daniel Malovetz; Michael Truong-Le; Frederik Diehl; Thomas Brunner; Alois C. Knoll (IV, 2019)

BARK: Open Behavior Benchmarking in Multi-Agent Environments. - Julian Bernhard; Klemens Esterle; Patrick Hart; Tobias Kessler (IROS, 2020)

Robust Stochastic Bayesian Games for Behavior Space Coverage. - Julian Bernhard; Alois C. Knoll (CoRR, 2020)

Risk-Constrained Interactive Safety under Behavior Uncertainty for Autonomous Driving. - Julian Bernhard; Alois C. Knoll (IV, 2021)

Risk-Based Safety Envelopes for Autonomous Vehicles Under Perception Uncertainty. - Julian Bernhard; Patrick Hart; Amit Sahu; Christoph Schöller; Michell Guzman Cancimance (IV, 2022)

Risk-Constrained Interactive Planning for Balancing Safety and Efficiency of Autonomous Vehicles (Risikobeschränkte Interaktive Planung zur Abwägung von Sicherheit und Effizienz autonomer Fahrzeuge) - Julian Bernhard (2023)

PlanNetX: Learning an efficient neural network planner from MPC for longitudinal control. - Jasper Hoffmann; Diego Fernandez Clausen; Julien Brosseit; Julian Bernhard; Klemens Esterle; Moritz Werling; Michael Karg; Joschka Bödecker (L4DC, 2024)