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Authors
Schumann, Julian F. https://orcid.org/0000-0002-4482-5122
Engström, Johan
Johnson, Leif
O’Kelly, Matthew
Messias, Joao
Kober, Jens https://orcid.org/0000-0001-7257-5434
Zgonnikov, Arkady https://orcid.org/0000-0002-6593-6948
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Article History
Received: 2 June 2025
Accepted: 6 May 2026
First Online: 10 June 2026
Competing interests
: J.E., M.O’.K., L.J., and J.M. were employed by Waymo LLC and conducted the research without any external funding from third parties. Techniques discussed in this paper may be described in U.S. Patent Application Nos. 18/614,428 and 63/657,623. Delft University of Technology received funding from Waymo LLC for parts of the research carried out by J.F.S., but J.F.S. received no direct financial benefit for his contributions to the paper. The remaining authors declare no competing interests.
