@article{fastnonlinearriskassessmentforautonomous,
  title = {Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures},
  author = {Ashkan Jasour and Xin Huang and Allen Wang and Brian C. Williams},
  year = {2021},
  eprint = {2109.09975},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.09975v2},
}