The Software Stack That Won the Formula Student Driverless Competition. - Andres Alvarez; Nico Denner; Zhe Feng; David Fischer; Yang Gao; Lukas Harsch; Sebastian Herz; Nick Le Large; Bach Nguyen; Carlos Rosero; Simon Schaefer; Alexander Terletskiy; et al. (CoRR, 2022)

Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making. - Piotr Spieker; Nick Le Large; Martin Lauer (CoRR, 2024)

Human-Aided Trajectory Planning for Automated Vehicles through Teleoperation and Arbitration Graphs. - Nick Le Large; David Brecht; Willi Poh; Jan-Hendrik Pauls; Martin Lauer; Frank Diermeyer (CoRR, 2025)