@inproceedings{liebenwein2017compositional,
  title={Compositional and Contract-based Verification for Autonomous Driving on Road Networks},
  author={Liebenwein, Lucas and Schwarting, Wilko and Vasile, Cristian-Ioan and DeCastro, Jonathan and Alonso-Mora, Javier and Karaman, Sertac and Rus, Daniela},
  year={2017},
  booktitle = {International Symposium on Robotics Research},
  publisher={International Foundation of Robotics Research}
}