@article{chou2018using,
  title={Using control synthesis to generate corner cases: A case study on autonomous driving},
  author={Chou, Glen and Sahin, Yunus Emre and Yang, Liren and Rutledge, Kwesi J and Nilsson, Petter and Ozay, Necmiye},
  journal={IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems},
  volume={37},
  number={11},
  pages={2906--2917},
  year={2018},
  publisher={IEEE}
}