@article{directionalprimitivesforuncertaintyaware,
  title = {Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments},
  author = {Ransalu Senanayake and Maneekwan Toyungyernsub and Mingyu Wang and Mykel J. Kochenderfer and Mac Schwager},
  year = {2020},
  eprint = {2007.00161},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.00161v1},
}