Trajectory Based Motion Planning for On-Ramp Merging-Situations Considering Extended Evaluation Criteria. - Lucas Eiermann; Nick Bührer; Gabi Breuel; Ilja Radusch; Manfred Hauswirth (ICCP, 2020)

A Multiplicative Value Function for Safe and Efficient Reinforcement Learning. - Nick Bührer; Zhejun Zhang; Alexander Liniger; Fisher Yu 001; Luc Van Gool (IROS, 2023)