@conference {McKeever:2015:ERC:2846696.2846706, title = {Experience Report: Constraint-based Modeling of Autonomous Vehicle Trajectories}, booktitle = {Proceedings of the Workshop on Domain-Specific Modeling}, year = {2015}, pages = {17{\textendash}22}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Autonomous Systems, cyber-physical systems, metamodeling}, isbn = {978-1-4503-3903-2}, doi = {10.1145/2846696.2846706}, url = {http://doi.acm.org/10.1145/2846696.2846706}, author = {Kennon McKeever and Yegeta Zeleke and Matthew Bunting and Jonathan Sprinkle} }