@article{parkpredictmultimodalintentandmotion,
  title = {ParkPredict+: Multimodal Intent and Motion Prediction for Vehicles in Parking Lots with CNN and Transformer},
  author = {Xu Shen and Matthew Lacayo and Nidhir Guggilla and Francesco Borrelli},
  year = {2022},
  eprint = {2204.10777},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.10777v2},
}