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@Inproceedings{ Pomerleau, title = "RALPH: Rapidly Adapting Lateral Position Handler", author = "D. Pomerleau", year = "1995", month = "September", address = "Wexford, PA 15090", institution = "IEEE", journal = "IEEE Symposium on Intelligent Vehicles", day = "25-26", url = "http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=528333&isnumber=11537", }