@InBook{RBL+09,
 author = {Fred W. Rauskolb and Kai Berger and Christian Lipski and Marcus Magnor and Karsten Cornelsen and Jan Effertz and Thomas Form and Fabian Graefe and Sebastian Ohl and Walter Schumacher and J\"{o}rn-Marten Wille and Peter Hecker and Tobias Nothdurft and Michael Doering and Kai Homeier and Johannes Morgenroth and Lars Wolf and Christian Basarke and Christian Berger and Tim G\"{u}lke and Felix Klose and Bernhard Rumpe},
 title = {Caroline: An Autonomously Driving Vehicle for Urban Environments},

  booktitle = {{The DARPA Urban Challenge: Autonomous Vehicles in City Traffic}},
  publisher = {Springer},
  address = {Berlin, Heidelberg, Germany},
  editor = {Martin Buehler, Karl Iagnemma, Sanjiv Singh},
  year = 2009,
  month = November,
  pages = {441-508},
  doi = {10.1007/978-3-642-03991-1_11},
  url ={http://www.springerlink.com/content/y386273464u03023/fulltext.pdf},
 ibrgroups="cm",
 ibrauthors = "mdoering homeier morgenro wolf"
}