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Recent research in automated highway systems has ranged from low-level vision-based controllers to highlevel route-guidance software. However there is currently no system for tactical-level reasoning. Such a system should address tasks such as passing cars, making exits on time, and merging into a traffic stream. Our approach to this intermediate-level planning combines a distributed reasoning system (PolySAPIENT) with a novel evolutionary optimization strategy (PBIL). PBIL automatically tunesdoi:10.1109/robot.1997.620089 dblp:conf/icra/SukthankarBH97 fatcat:imvvdyk2qzbibijx5z7zpgctie