Vemula, A., J. A. Bagnell, and M. Likhachev. “CMAX++ : Leveraging Experience in Planning and Execution Using Inaccurate Models”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 35, no. 7, May 2021, pp. 6147-55, doi:10.1609/aaai.v35i7.16765.