@incollection{Rauskolb2009DARPA,
    author = {Rauskolb, Fred {W.} and Berger, Kai and Lipski, Christian and Magnor, Marcus and Cornelsen, Karsten and Effertz, Jan and Form, Thomas and Graefe, Fabian and Ohl, Sebastian and Schumacher, Walter and Wille, J{\"{o}}rn Marten and Hecker, Peter and Nothdurft, Tobias and Doering, Michael and Homeier, Kai and Morgenroth, Johannes and Wolf, Lars and Basarke, Christian and Berger, Christian and G{\"{u}}lke, Tim and Klose, Felix and Rumpe, Bernhard},
    title = {Caroline: An Autonomously Driving Vehicle for Urban Environments},
    publisher = {Springer},
    isbn = {978-3-642-03990-4},
    booktitle = {The {DARPA} Urban Challenge},
    editor = {Martin Buehler and Karl Iagnemma and Sanjiv Singh},
    pages = {441--508},
    month = jan,
    year = {2010}
}