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)

Roadgraph Generation and Free-Space Estimation in Unknown Structured Environments for Autonomous Vehicle Motion Planning. - Tobias Kessler; Pascal Minnerup; Klemens Esterle; Christian Feist; Florian Mickler; Erwin Roth; Alois C. Knoll (ITSC, 2018)

From Specifications to Behavior: Maneuver Verification in a Semantic State Space. - Klemens Esterle; Vincent Aravantinos; Alois C. Knoll (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)

Formalizing Traffic Rules for Machine Interpretability. - Klemens Esterle; Luis Gressenbuch; Alois C. Knoll (CAVS, 2020)

Linear Differential Games for Cooperative Behavior Planning of Autonomous Vehicles Using Mixed-Integer Programming. - Tobias Kessler; Klemens Esterle; Alois C. Knoll (CDC, 2020)

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

Optimal Behavior Planning for Autonomous Driving: A Generic Mixed-Integer Formulation. - Klemens Esterle; Tobias Kessler; Alois C. Knoll (IV, 2020)

Modeling and Testing Multi-Agent Traffic Rules within Interactive Behavior Planning. - Klemens Esterle; Luis Gressenbuch; Alois C. Knoll (CoRR, 2020)

MONA: The Munich Motion Dataset of Natural Driving. - Luis Gressenbuch; Klemens Esterle; Tobias Kessler; Matthias Althoff (ITSC, 2022)

Formalizing and Modeling Traffic Rules Within Interactive Behavior Planning (Formalisierung und Modellierung von Verkehrsregeln innerhalb der Interaktiven Verhaltensplanung) - Klemens Esterle (2022)

Mixed-Integer Motion Planning on German Roads Within the Apollo Driving Stack. - Tobias Kessler; Klemens Esterle; Alois C. Knoll (IEEE Trans. Intell. Veh., 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)