@ARTICLE{YuvarajIEEEdL23,
  author={Selvaraj, Yuvaraj and Ahrendt, Wolfgang and Fabian, Martin},
  journal={IEEE Transactions on Intelligent Vehicles}, 
  title={Formal Development of Safe Automated Driving Using Differential Dynamic Logic}, 
  year={2023},
  volume={8},
  number={1},
  pages={988-1000},
  doi={10.1109/TIV.2022.3204574}
}