Beelines: Evaluating Motion Prediction Impact on Self-Driving Safety and Comfort. - Skanda Shridhar; Yuhang Ma; Tara Stentz; Zhengdi Shen; Galen Clark Haynes; Neil Traft (CoRR, 2020)

Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort. - Skanda Shridhar; Yuhang Ma; Tara Stentz; Zhengdi Shen; Galen Clark Haynes; Neil Traft (ICRA, 2021)