@article{hierarchicalroadtopologylearningforurban,
  title = {Hierarchical Road Topology Learning for Urban Map-less Driving},
  author = {Li Zhang and Faezeh Tafazzoli and Gunther Krehl and Runsheng Xu and Timo Rehfeld and Manuel Schier and Arunava Seal},
  year = {2021},
  eprint = {2104.00084},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2104.00084v1},
}