Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to the Real World. - Daniel J. Fremont; Edward Kim 005; Yash Vardhan Pant; Sanjit A. Seshia; Atul Acharya; Xantha Bruso; Paul Wells; Steve Lemke; Qiang Lu 004; Shalin Mehta (ITSC, 2020)