A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions,

J. Ivanchev, C. Deboeser, T. Braud, A. Knoll, D. Eckhoff, and A. Sangiovanni-Vincentelli, “A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions,” IEEE Access, vol. 9, pp. 128393–128406, Aug. 2021, DOI: 10.1109/ACCESS.2021.3106455.

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