@article{hierarchicalgametheoreticplanningfor,
  title = {Hierarchical Game-Theoretic Planning for Autonomous Vehicles},
  author = {Jaime F. Fisac and Eli Bronstein and Elis Stefansson and Dorsa Sadigh and S. Shankar Sastry and Anca D. Dragan},
  year = {2018},
  eprint = {1810.05766},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1810.05766v1},
}