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Encoding and monitoring responsibility sensitive safety rul..:

, In: Proceedings of the 17th ACM-IEEE International Conference on Formal Methods and Models for System Design,
Hekmatnejad, Mohammad ; Yaghoubi, Shakiba ; Dokhanchi, Adel... - p. 1-11 , 2019
Link: https://dl.acm.org/doi/10.1145/3359986.3361203