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B. Upcroft, Moser, M., Makarenko, A., Johnson, D., Donikan, A., Alempijevic, A., Fitch, R., Uther, W., Biermeyer, J., Gonzalez, H., Grøtli, E. Ingar, Templeton, T., Srini, V. P., and Sprinkle, J., “DARPA Urban Challenge Technical Paper: Sydney-Berkeley Driving Team”, 2007.