@article{ivanchev2021hierarchical,
  title = {A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions},
  author = {Ivanchev, Jordan and Deboeser, Corvin and Braud, Thomas and Knoll, Alois and Eckhoff, David and Sangiovanni-Vincentelli, Alberto},
  journal = {IEEE Access},
  year = {2021},
  publisher = {IEEE},
  month = {August},
  doi = {10.1109/ACCESS.2021.3106455},
}