@article{decentralizedcooperativeplanningfor,
  title = {Decentralized Cooperative Planning for Automated Vehicles with Hierarchical Monte Carlo Tree Search},
  author = {Karl Kurzer and Chenyang Zhou and J. Marius Zöllner},
  year = {2018},
  eprint = {1807.09530},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1807.09530v1},
}