@article{safelearningbasedoptimalmotionplanning,
  title = {Safe learning-based optimal motion planning for automated driving},
  author = {Zlatan Ajanovic and Bakir Lacevic and Georg Stettinger and Daniel Watzenig and Martin Horn},
  year = {2018},
  eprint = {1805.09994},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1805.09994v2},
}