@inproceedings{decastro2018counterexamples,
  title={Counterexample-Guided Safety Contracts for Autonomous Driving},
  author={DeCastro, Jonathan A and Liebenwein, Lucas and Vasile, Cristian-Ioan and Tedrake, Russ and Karaman, Sertac and Rus, Daniela},
  booktitle={International Workshop on the Algorithmic Foundations of Robotics},
  year={2018}
}