O. A. Abaza and Z. S. Hussein, Comparative Analysis of Multilane Roundabout Capacity "Case Study", 2009 IEEE 70th Vehicular Technology Conference Fall, pp.1-5, 2009.
DOI : 10.1109/VETECF.2009.5378783

Y. Bai, K. Xue, and X. Yang, Block Mechanism of Left-turned Flow at Signal-Controlled Roundabout, 2009 WRI Global Congress on Intelligent Systems, pp.443-449, 2009.
DOI : 10.1109/GCIS.2009.178

L. Bouraoui, C. Boussard, F. Charlot, C. Holguin, F. Nashashibi et al., An on-demand personal automated transport system: The CityMobil demonstration in La Rochelle, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.1086-1091, 2011.
DOI : 10.1109/IVS.2011.5940545
URL : https://hal.archives-ouvertes.fr/inria-00625980

M. Brezak and I. Petrovic, Real-time Approximation of Clothoids With Bounded Error for Path Planning Applications, IEEE Transactions on Robotics, vol.30, issue.2, pp.507-515, 2014.
DOI : 10.1109/TRO.2013.2283928

A. Broggi, M. Buzzoni, S. Debattisti, P. Grisleri, M. Laghi et al., Extensive Tests of Autonomous Driving Technologies, IEEE Transactions on Intelligent Transportation Systems, vol.14, issue.3, pp.1403-1415, 2013.
DOI : 10.1109/TITS.2013.2262331

A. Broggi, P. Cerri, S. Debattisti, M. C. Laghi, P. Medici et al., PROUD-Public road urban driverless test: Architecture and results, 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp.2014-648, 2014.
DOI : 10.1109/IVS.2014.6856478
URL : http://www.ce.unipr.it/people/bertozzi/pap/cr/iv2014proud.pdf

D. Brabander, B. Vereeck, and L. , Safety effects of roundabouts in Flanders: Signal type, speed limits and vulnerable road users, Accident Analysis & Prevention, vol.39, issue.3, 2007.
DOI : 10.1016/j.aap.2006.10.004

D. Ferguson, T. Howard, and M. Likhachev, Motion planning in urban environments The DARPA Urban Challenge, pp.61-89, 2009.

J. Godoy, J. Perez-rastelli, E. Onieva, J. Villagra, V. Milanés et al., A driverless vehicle demonstration on motorways and in urban environments, Transport, vol.8, issue.5, 2015.
DOI : 10.1016/S0019-9958(65)90241-X
URL : https://hal.archives-ouvertes.fr/hal-01244400

D. González and J. Pérez, Control architecture for Cybernetic Transportation Systems in urban environments, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.1119-1124, 2013.
DOI : 10.1109/IVS.2013.6629616

D. Gonzalez, J. Perez, R. Lattarulo, V. Milanes, and F. Nashashibi, Continuous curvature planning with obstacle avoidance capabilities in urban scenarios, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp.1430-1435, 2014.
DOI : 10.1109/ITSC.2014.6957887
URL : https://hal.archives-ouvertes.fr/hal-01086888

D. González, J. Pérez, V. Milanés, and F. Nashashibi, A Review of Motion Planning Techniques for Automated Vehicles, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.4, pp.1135-1145, 2016.
DOI : 10.1109/TITS.2015.2498841

L. Hand, H. Yashiro, H. Nejad, Q. H. Do, and S. Mita, Bézier curve based path planning for autonomous vehicle in urban environment, IEEE Intelligent Vehicles Symposium, vol.4, pp.1036-1042, 2010.

H. Isebrands, Roundabouts and signals: Harmony even with increasing traffic volumes current guidance, ITE Journal, 2009.

M. Johnson and W. Hange, Modern roundabout intersections: When to use them? a comparison with signalized intersections, 2003.

L. Labakhua, U. Nunes, R. Rodrigues, and F. S. Leite, Smooth Trajectory Planning for Fully Automated Passengers Vehicles: Spline and Clothoid Based Methods and Its Simulation, Informatics in Control Automation and Robotics, pp.169-182, 2008.
DOI : 10.1007/978-3-540-79142-3_14

S. Manage, H. Nakamura, and K. Suzuki, Performance an of roundabouts as an alternative for intersection control in japan, Journal of the Eastern Asia Society for Transportation Studies, vol.5, pp.871-883, 2003.

V. Milanés, J. Villagra, J. Godoy, J. Simó, J. Pérez et al., An Intelligent V2I-Based Traffic Management System, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.1, pp.49-58, 2012.
DOI : 10.1109/TITS.2011.2178839

B. Molinete, L. Bouraui, J. Naranjo, H. Kostense, J. Hendriks et al., Cybercars-2: Close communications for cooperation between cybercars, Tech. rep, 2009.

M. Muffert, T. Milbich, D. Pfeiffer, and U. Franke, May I enter the roundabout? A time-to-contact computation based on stereo-vision, 2012 IEEE Intelligent Vehicles Symposium, pp.2012-565, 2012.
DOI : 10.1109/IVS.2012.6232178

J. E. Naranjo, L. Bouraoui, R. García, M. Parent, and M. A. Sotelo, Interoperable Control Architecture for Cybercars and Dual-Mode Cars, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.1, pp.146-154, 2009.
DOI : 10.1109/TITS.2008.2011716

B. Paden, M. Cap, S. Z. Yong, D. Yershov, and E. Frazzoli, A survey of motion planning and control techniques for self-driving urban vehicles. arXiv preprint, 2016.

J. Pérez, V. Milanés, T. De-pedro, and L. Vlacic, Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts, Proceedings of the 18th World Congress The International Federation of Automatic Control, pp.13795-13800, 2011.
DOI : 10.3182/20110828-6-IT-1002.00423

J. Perez-rastelli, R. Lattarulo, and F. Nashashibi, Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles, 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp.510-515, 2014.
DOI : 10.1109/IVS.2014.6856526
URL : https://hal.archives-ouvertes.fr/hal-01081298

A. Piazzi, C. G. Lo-bianco, M. Bertozzi, A. Fascioli, and A. Broggi, Quintic G/sup 2/-splines for the iterative steering of vision-based autonomous vehicles, IEEE Transactions on Intelligent Transportation Systems, vol.3, issue.1, pp.27-36, 2002.
DOI : 10.1109/6979.994793

E. Rice, Mini-roundabouts, Tech. rep., U.S. Departmet of Trasportation Federal Highway Administration, 2010.

B. W. Robinson, L. Rodegerdts, W. Scarbrough, W. Kittelson, R. Troutbeck et al., Roundabouts: An informational guide, 2000.

L. Rodegerdts, J. Bansen, C. Tiesler, J. Knudsen, and E. Myers, Roundabouts: An informational guide, Tech. rep., National Cooperative Highway Research Program, 2010.

L. Roldao, J. Perez-rastelli, D. González, and V. Milanés, Description and technical specification of cybernetic transportation systems: an urban transportation concept -citymobil2 project approach, pp.176-181, 2015.

M. A. Sotelo, Lateral control strategy for autonomous steering of Ackerman-like vehicles, Robotics and Autonomous Systems, vol.45, issue.3-4, pp.223-233, 2003.
DOI : 10.1016/j.robot.2003.09.002

M. Tracza and J. Chodura, Performance and Safety Roundabouts with Traffic Signals, SIIV 5th International Congress Sustainability of Road Infrastructures, pp.789-800, 2012.
DOI : 10.1016/j.sbspro.2012.09.928

G. Trehard, Z. Alsayed, E. Pollard, B. Bradai, and F. Nashashibi, Credibilist simultaneous Localization And Mapping with a LIDAR, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2699-2706, 2014.
DOI : 10.1109/IROS.2014.6942931
URL : https://hal.archives-ouvertes.fr/hal-01067931

W. Van-schijndel-de-nooij, B. Krosse, T. Van-den, S. Maas, E. Van-nunen et al., Definition of necessary vehicle and infrastructure systems for automated driving, 2011.

Y. Xiaoguang, L. Xiugang, and X. Kun, A new traffic-signal control for modern roundabouts method and application, IEEE Intelligent Transportation Systems Society, vol.5, pp.282-287, 2004.

J. Xie, F. Nashashibi, M. Parent, and O. G. Favrot, A real-time robust global localization for autonomous mobile robots in large environments, 2010 11th International Conference on Control Automation Robotics & Vision, pp.1397-1402, 2010.
DOI : 10.1109/ICARCV.2010.5707329
URL : https://hal.archives-ouvertes.fr/hal-00558603

L. Yu and C. Qin, Real-Time Signal Control Method for Multi-Approach Roundabouts, 2009 International Conference on Management and Service Science, pp.1-4, 2009.
DOI : 10.1109/ICMSS.2009.5303178

J. Ziegler, P. Bender, M. Schreiber, H. Lategahn, T. Strauss et al., Making Bertha Drive???An Autonomous Journey on a Historic Route, IEEE Intelligent Transportation Systems Magazine, vol.6, issue.2, pp.8-20, 2014.
DOI : 10.1109/MITS.2014.2306552