Empirical Evaluation of an Autonomous Vehicle in an Urban Environment. - Ben Upcroft; Alexei Makarenko; Michael Moser; Alen Alempijevic; Ashod Donikian; Will Uther; Robert Fitch (J. Aerosp. Comput. Inf. Commun., 2007)

Model-based design: a report from the trenches of the DARPA Urban Challenge. - Jonathan Sprinkle; J. Mikael Eklund; Humberto González; Esten Ingar Grøtli; Ben Upcroft; Alexei Makarenko; Will Uther; Michael Moser; Robert Fitch; Hugh F. Durrant-Whyte; Shankar Sastry 001 (Softw. Syst. Model., 2009)