@article{rauskolb2008cad,
  title={{Caroline: An autonomously driving vehicle for urban environments}},
  author={Rauskolb, F.W. and Berger, K. and Lipski, C. and Magnor, M. and Cornelsen, K. and Effertz, J. and Form, T. and Graefe, F. and Ohl, S. and Schumacher, W. and others},
  journal={Journal of Field Robotics},
  volume={25},
  number={9},
  pages={674--724},
  year={2008},
  publisher={John Wiley and Sons Ltd. Chichester, UK, UK}
}