@article{rauskolb2008cad,
    author = {Rauskolb, Fred {W.} and Berger, Kai and Lipski, Christian and Magnor, Marcus and Cornelsen, Karsten and Effertz, Jan and Form, Thomas and Graefe, Fabian and Ohl, Sebastian and Schumacher, Walter and Wille, J{\"{o}}rn Marten and Hecker, Peter and Nothdurft, Tobias and Doering, Michael and Homeier, Kai and Morgenroth, Johannes and Wolf, Lars and Basarke, Christian and Berger, Christian and G{\"{u}}lke, Tim and Klose, Felix and Rumpe, Bernhard},
    title = {Caroline: An autonomously driving vehicle for urban environments},
    volume = {25},
    number = {9},
    journal = {Journal of Field Robotics},
    pages = {674--724},
    month = dec,
    year = {2008}
}