@incollection{Rauskolb2009DARPA,
  title = {Caroline: An Autonomously Driving Vehicle for Urban Environments},
  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},
  booktitle = {The {DARPA} Urban Challenge},
  isbn = {978-3-642-03990-4},
  publisher = {Springer},
  editor = {Martin Buehler and Karl Iagnemma and Sanjiv Singh},
  pages = {441--508},
  month = {Jan},
  year = {2010}
}