Continuous curvature planning with obstacle avoidance capabilities in urban scenarios. - David González; Joshué Pérez; Ray Lattarulo; Vicente Milanés Montero; Fawzi Nashashibi (ITSC, 2014)

Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles. - Joshué Pérez Rastelli; Ray Lattarulo; Fawzi Nashashibi (Intelligent Vehicles Symposium, 2014)

Overtaking Maneuver for Automated Driving Using Virtual Environments. - Ray Lattarulo; Mauricio Marcano; Joshué Pérez (EUROCAST (2), 2017)

Safety assessment of automated vehicle functions by simulation-based fault injection. - Garazi Juez; Estibaliz Amparan Calonge; Ray Lattarulo; Joshué Pérez Rastelli; Alejandra Ruiz López; Huáscar Espinoza (ICVES, 2017)

Fault injection method for safety and controllability evaluation of automated driving. - Garazi Juez Uriagereka; Ray Lattarulo; Joshué Pérez Rastelli; Estibaliz Amparan Calonge; Alejandra Ruiz López; Huáscar Espinoza Ortiz (Intelligent Vehicles Symposium, 2017)

Early Safety Assessment of Automotive Systems Using Sabotage Simulation-Based Fault Injection Framework. - Garazi Juez; Estibaliz Amparan Calonge; Ray Lattarulo; Alejandra Ruiz 001; Joshué Pérez; Huáscar Espinoza (SAFECOMP, 2017)

Towards conformant models of automated electric vehicles. - Ray Lattarulo; Daniel Heß; Jose A. Matute; Joshué Pérez (ICVES, 2018)

A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort. - Ray Lattarulo; Enrique Martí; Mauricio Marcano; Jose A. Matute; Joshué Pérez (ISCAS, 2018)

Fast Maneuver Planning for Cooperative Automated Vehicles. - Daniel Heß; Ray Lattarulo; Joshué Pérez; Julian Schindler; Tobias Hesse; Frank Köster (ITSC, 2018)

A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances. - Ray Lattarulo; Daniel Heß; Joshué Pérez (Intelligent Vehicles Symposium, 2018)

Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms. - Mauricio Marcano; Jose A. Matute; Ray Lattarulo; Enrique Martí; Joshué Pérez (Complex., 2018)

Intelligent Longitudinal Merging Maneuver at Roundabouts Based on Hybrid Planning Approach. - Carlos Hidalgo; Ray Lattarulo; Joshué Pérez; Estibaliz Asua (EUROCAST (2), 2019)

Hybrid trajectory planning approach for roundabout merging scenarios. - Carlos Hidalgo; Ray Lattarulo; Joshué Pérez; Estibaliz Asua (ICCVE, 2019)

Negotiation of Cooperative Maneuvers for Automated Vehicles: Experimental Results. - Daniel Heß; Ray Lattarulo; Joshué Pérez; Tobias Hesse; Frank Köster (ITSC, 2019)

A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models. - Jose A. Matute; Ray Lattarulo; Asier Zubizarreta; Joshué Pérez (IV, 2019)

Real-Time Trajectory Planning Method Based On N-Order Curve Optimization. - Ray Lattarulo; Leonardo González; Joshué Pérez (ICSTCC, 2020)

Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles. - Ray Lattarulo; Joshué Pérez (ITSC, 2020)

A Control Testing Framework for automated driving functionalities using modular architecture with ROS/CARLA environment. - Asier Arizala; Ray Lattarulo; Asier Zubizarreta; Joshué Pérez (ICSTCC, 2021)

Trajectory planning for automated buses in parking areas. - Asier Martin; Ray Lattarulo; Asier Zubizarreta; Joshué Pérez; Pedro López-García 002 (ICSTCC, 2021)

AUDRIC2: A Modular and Highly Interconnected Automated Driving Framework Focus on Decision Making and Vehicle Control. - Ray Lattarulo; Carlos Hidalgo; Asier Arizala; Joshué Pérez (ITSC, 2021)

Platoon Merging Approach Based on Hybrid Trajectory Planning and CACC Strategies. - Carlos Hidalgo; Ray Lattarulo; Carlos Flores; Joshué Pérez Rastelli (Sensors, 2021)

A Hybrid Planning Approach Based on MPC and Parametric Curves for Overtaking Maneuvers. - Ray Lattarulo; Joshué Pérez Rastelli (Sensors, 2021)

RRT Trajectory Planning Approach For Automated Semi-trailer truck Parking. - Ray Lattarulo; Joshué Pérez; Jesús Murgoitio (ICVES, 2022)

Evolution of Bus Shuttle Service in Madrid Towards Autonomous Operation, A Practical Use Case. - Ángel Madridano; Sergio Campos; Joshué Manuel Pérez; Alfredo Valle; Diego Martín; Ray Alejandro Lattarulo; Miguel Ángel de Miguel; Carlos Sierra; Julián Del Olmo; César Omar Chacón; Felipe Jiménez; José Eugenio Naranjo; et al. (ITSC, 2023)