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Casimiro, A., J. Rufino, R. Pinto, E. Vial, E. M. Schiller, O. Morales-Ponce, and T. Petig, "A kernel-based architecture for safe cooperative vehicular functions", Industrial Embedded Systems (SIES), 2014 9th IEEE International Symposium on: IEEE, pp. 228–237, 2014.