@article{formalestimationofcollisionrisksfor,
  title = {Formal Estimation of Collision Risks for Autonomous Vehicles: A Compositional Data-Driven Approach},
  author = {Abolfazl Lavaei and Luigi Di Lillo and Andrea Censi and Emilio Frazzoli},
  year = {2021},
  eprint = {2112.07187},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.07187v2},
}