Experience report: constraint-based modeling of autonomous vehicle trajectories. - Kennon McKeever; Yegeta Zeleke; Matt Bunting; Jonathan Sprinkle (DSM@SPLASH, 2015)

A safe autonomous vehicle trajectory domain specific modeling language for non-expert development. - Matt Bunting; Yegeta Zeleke; Kennon McKeever; Jonathan Sprinkle (DSM@SPLASH, 2016)