@article{waibel2022its,
    author={Waibel, G. and L\ow, T. and Nass, M. and Howard, D. and Bandyopadhyay, T. and Borges, P.},
    journal={IEEE Transactions on Intelligent Transportation Systems}, 
    title={How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning}, 
    year={2022},
    volume={23},
    number={9},
    pages={16462-16473},
    doi={10.1109/TITS.2022.3150328}
}