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Pagojus, D., Miller, A. , Porr, B. and Valkov, I. (2021) Simulation and Model Checking for Close to Real-time Overtaking Planning. In: Third Workshop on Formal Methods for Autonomous Systems (FMAS2021), 21-22 Oct 2021, pp. 20-37. (doi: 10.4204/EPTCS.348.2)