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SAE Level 4/5 driverless automated driving systems: fully automated vehicles operating with no human driver responsible for the dynamic task — robotaxis, driverless shuttles, autonomous delivery vehicles, empty-vehicle operation. No driver supervision or takeover exists — unlike l2_supervised (continuous human supervision) and l3_conditional (on-request human fallback).

Relevant standards

  • GB/T 40429-2021 — Taxonomy of driving automation for vehicles
  • ISO 22737:2021 — Intelligent transport systems — Low-speed automated driving (LSAD) systems for predefined routes — Performance requirements, system requirements and performance test procedures
  • ISO 23793-1:2024 — Intelligent transport systems — Minimal risk manoeuvre (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop
  • ISO 34501:2022 — Road vehicles — Test scenarios for automated driving systems — Vocabulary
  • ISO 34502:2022 — Road vehicles — Test scenarios for automated driving systems — Scenario based safety evaluation framework
  • ISO 34503:2023 — Road vehicles — Test scenarios for automated driving systems — Specification for operational design domain
  • ISO 34504:2024 — Road vehicles — Test scenarios for automated driving systems — Scenario categorization
  • ISO 34505:2025 — Road vehicles — Test scenarios for automated driving systems — Scenario evaluation and test case generation
  • ISO 39003:2023 — Road traffic safety (RTS) — Guidance on ethical considerations relating to safety for autonomous vehicles
  • ISO/DIS 23792-2 — Intelligent transport systems — Motorway chauffeur systems (MCS) — Part 2: Requirements and test procedures for discretionary lane change
  • ISO/TR 23049:2018 — Road vehicles — Ergonomic aspects of external visual communication from automated vehicles to other road users
  • SAE J3016 — Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles
  • SAE J3018 — Safety-Relevant Guidance for On-Road Testing of Prototype Automated Driving System (ADS)-Operated Vehicles
  • SAE J3131 — Definitions for Terms Related to Automated Driving Systems Reference Architecture
  • SAE J3134 — Automated Driving System (ADS) Marker Lamp
  • SAE J3197 — Automated Driving System Data Logger
  • SAE J3206 — Taxonomy and Definition of Safety Principles for Automated Driving System (ADS)
  • SAE J3259 — Taxonomy and Definitions for Operational Design Domain (ODD) for Driving Automation Systems

553 paper(s) · ranked by relevance to this topic

  1. Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles · 2021 · On-Road Automated Driving (ORAD) Committee · indexed
  2. Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles · 2018 · On-Road Automated Driving (ORAD) Committee · indexed
  3. Perception and Control for Connected and Automated Vehicles · 2020 · Sciarretta, Antonio et al. · archived
  4. Changing technology in transportation : automated vehicles in freight. · 2017 · Ginsburg, Robert et al. · archived
  5. Key considerations in the development of driving automation systems · 2015 · Christensen, Andy et al. · indexed
  6. Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems · 2014 · On-Road Automated Driving (ORAD) Committee · indexed
  7. Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles · 2016 · On-Road Automated Driving (ORAD) Committee · indexed
  8. Towards Autonomous Vehicles · 2013 · Schwarz, Chris et al. · archived
  9. A human factors perspective on automated driving · 2017 · Kyriakidis, Miltos et al. · archived
  10. A Role for Robots in Automated Driving Systems · 2016 · Bertram, Torsten · archived
  11. Autonomous Vehicles · 2024 · Kemeny, Andras · archived
  12. AUTOMATED DRIVING SYSTEMS: COMPARISON OF TRAINING METHODS’ EFFECTIVENESS · 2024 · RODAK, Aleksandra et al. · archived
  13. Safety Concept for Autonomous Vehicles · 2016 · Reschka, Andreas · archived
  14. Automated and Connected Vehicle Implications and Analysis · 2017 · Block, David et al. · archived
  15. Human factors issues for automated vehicles · 2012 · Harvey, Catherine · indexed
  16. LiDAR-Based Fail-Safe Emergency Maneuver for Autonomous Vehicles · 2023 · Alrousan, Qusay et al. · indexed
  17. The limits of highly autonomous vehicles: an uncertain future · 2019 · Endsley, Mica R. · indexed
  18. Connected and Autonomous Vehicles 2040 Vision · 2014 · Mashayekh, Yeganeh et al. · archived
  19. Interactive Traffic Management for Highly Automated Vehicles · 2023 · Alkim, Tom et al. · archived
  20. Transit Bus Automation Market Assessment · 2023 · Cregger, Joshua et al. · archived
  21. Benefits estimation framework for automated vehicle operations. · 2015 · Smith, Scott et al. · archived
  22. Automated driving: Safety blind spots · 2017 · Noy, Ian Y. et al. · indexed
  23. Towards the Unified Principles for Level 5 Autonomous Vehicles · 2021 · Wang, Jianqiang et al. · archived
  24. Fully-Automated Driving: The Road to Future Vehicles · 2011 · Jamson, Hamish et al. · indexed
  25. Autonomous Driving as System of Systems: roadmap for accelerating development · 2019 · Assaad, Mohamad Ali et al. · archived
  26. Connected and automated driving: The Long Level 4 · 2023 · Mitteregger, Mathias et al. · indexed
  27. Automated driving · 2020 · Janssen, Christian P. et al. · archived
  28. Driving as a Service: Promoting a Sustainable Transition to Automated Driving · 2024 · Duarte, Sérgio Pedro et al. · indexed
  29. Analysis of autonomous vehicle policies. · 2017 · Gibson, Bryan · archived
  30. Conference proceedings of the Northeast Autonomous Vehicle Summit. · 2017 · Simler, Tara et al. · archived
  31. Synthesis of Automated Vehicle Legislation · 2017 · Hubbard, Sarah M · archived
  32. Naturalistic Study of Level 2 Driving Automation Functions · 2018 · Russell, Sheldon M. et al. · archived
  33. Autonomous Campus Mobility Services Using Driverless Taxi · 2017 · Kim, Seong-Woo et al. · indexed
  34. Conditions for a safe state of automated road vehicles · 2015 · Reschka, Andreas et al. · indexed
  35. Characterizing Level 2 Automation in a Naturalistic Driving Fleet · 2024 · Perez, Miguel A et al. · archived
  36. Automation · 2020 · NHTSA et al. · archived
  37. CapMetro Ads Yard Automation Research and Deployment: Phase One · 2025 · Skolrud, Severin et al. · archived
  38. Operations of Shared Autonomous Vehicle Fleet for Austin, Texas, Market · 2015 · Fagnant, Daniel J. et al. · indexed
  39. Operation control center for automated vehicles : conceptual design · 2022 · Biletska, Olga et al. · indexed
  40. A Survey on Remote Operation of Road Vehicles · 2022 · Amador, Oscar et al. · archived
  41. Towards a Viable Autonomous Driving Research Platform · 2019 · Wei, Junqing et al. · archived
  42. How to navigate the intermediate levels of vehicle automation? · 2025 · van Nes, Nicole et al. · indexed
  43. System Dynamics Models of Automated Vehicle Impacts · 2023 · Smith, Scott et al. · archived
  44. Level of Automation Forms a Key Aspect of Autonomy Design · 2017 · Endsley, Mica R. · indexed
  45. Automated Vehicles, On-Demand Mobility, and Environmental Impacts · 2015 · Greenblatt, Jeffery B. et al. · archived
  46. Simulation of Automated Vehicles' Drive Cycles · 2018 · LeVine, Scott · archived
  47. Road Vehicle Automation and Its Effects on Fatigue, Sleep, Rest, and Recuperation · 2023 · Ahlström, Christer et al. · indexed
  48. Autonomous Driving · 2016 · Maurer, Markus et al. · archived
  49. Survey on Teleoperation Concepts for Automated Vehicles · 2022 · Majstorovic, Domagoj et al. · archived
  50. Preparing for a Driverless Future · 2020 · Piatkowski, Daniel P et al. · archived
  51. AUTOMOBIL – selbstbewegtes Fahrzeug · 2019 · Bertram, Torsten et al. · archived
  52. Mode Awareness and Automated Driving—What Is It and How Can It Be Measured? · 2020 · Kurpiers, Christina et al. · indexed
  53. Emerging Transportation Innovations: Promises and Pitfalls · 2022 · Labi, Samuel et al. · archived
  54. Regulating Road Vehicle Teleoperation: Back to the Near Future · 2021 · Linné, Philip Almestrand et al. · indexed
  55. Toward Shared Control Between Automated Vehicles and Users · 2020 · Terken, Jacques et al. · archived
  56. Who Wants an Automated Vehicle? · 2019 · Thurlow, David A. et al. · archived
  57. Who Wants an Automated Vehicle? · 2022 · Thurlow, David A. et al. · archived
  58. Human Models for Future Mobility · 2022 · Suchan, Jakob · indexed
  59. Time Required for Take-over from Automated to Manual Driving · 2016 · Ito, Toshio et al. · indexed
  60. Policy challenges of increasing automation in driving · 2012 · Khan, Ata M. et al. · indexed
  61. Highly Automated Vehicles for Intelligent Transport: Have-It Approach · 2008 · Hoeger, Reiner et al. · indexed
  62. Opportunities and Challenges in Cooperative Road Vehicle Automation · 2021 · Shladover, Steven E. · archived
  63. Hazard and Safety Analysis of Automated Transit Bus Applications · 2020 · Becker, Christopher et al. · archived
  64. Human–Machine Interaction in Automated Vehicles: The ABV Project · 2015 · Sentouh, Chouki et al. · indexed
  65. Motorists' preferences for different levels of vehicle automation · 2015 · Schoettle, Brandon et al. · indexed
  66. Dawn of autonomous vehicles: review and challenges ahead · 2018 · Sousa, Nuno et al. · archived
  67. Autonomous Maintenance Technology Literature Review · 2021 · Arrington, Deshaun et al. · archived
  68. A cross-methodological review on the safety effects of partial vehicle automation · 2026 · de Winkel, Ksander N et al. · indexed
  69. Automated Vehicles and the Rethinking of Mobility and Cities · 2015 · Alessandrini, Adriano et al. · archived
  70. Functional system architectures towards fully automated driving · 2016 · Taş, Ömer Şahin et al. · archived
  71. Understanding and Modeling Middle-Mile Logistics Automation · 2024 · Zou, Bo et al. · archived
  72. Automated vehicles in smart urban environment: A review · 2017 · Pereira, André Maia et al. · indexed
  73. Risk Analysis of Autonomous Vehicles in Mixed Traffic Streams · 2017 · Dey, Kakan Chandra et al. · archived
  74. From automation to autonomy and autonomous vehicles · 2020 · Xu, Wei · indexed
  75. Vehicle Connectivity and Automation: A Sibling Relationship · 2020 · Ha, Paul et al. · archived
  76. Transit Bus Automation: State and Local Policy Scan, Final Report · 2020 · Fischer, Stephanie et al. · archived
  77. Public acceptance of driverless shuttles in Norway · 2019 · Roche-Cerasi, Isabelle · indexed
  78. Macroscopic Safety Requirements for Highly Automated Driving · 2019 · Junietz, Philipp et al. · indexed
  79. Hazard Analysis of Action Loops for Automated Vehicle Remote Operation · 2021 · Kamaraj, Amudha V. et al. · indexed
  80. Achieving mobility on demand using autonomous vehicles · 2015 · Ang, Marcelo H · indexed
  81. Impacts of Automated Vehicles on Highway Infrastructure · 2021 · Gopalakrishna, Deepak et al. · archived
  82. Driver Monitoring in the Context of Autonomous Vehicle · 2015 · Rahman Hamidur et al. · indexed
  83. Northeast Autonomous and Connected Vehicle Summit Report · 2018 · Jackson, Eric et al. · archived
  84. Assessing emissions impacts of automated vehicles · 2016 · Reed, Erin M. et al. · archived
  85. A Review on Autonomous Driving Systems · 2018 · Yaakub, Salma et al. · archived
  86. 2022 CDA Annual Report · 2024 · Balse, Animesh et al. · archived
  87. Potential Cyberattacks on Automated Vehicles · 2014 · Petit, Jonathan et al. · indexed
  88. Identifying Human Factors Research for Unmanned Aircraft Systems and Advanced Air Mobility · 2024 · Kaliardos, William N. (Bill) et al. · archived
  89. The challenges of partially automated driving · 2016 · Casner, Stephen M. et al. · indexed
  90. Macroeconomic Impacts of Automated Driving Systems in Long-Haul Trucking · 2021 · Waschik, Robert et al. · archived
  91. Autonomous Vehicles and Energy Impacts: A Scenario Analysis · 2017 · Ross, Catherine L. et al. · indexed
  92. Autonomous Vehicle Technology: A Guide for Policymakers · 2014 · Anderson, James M. et al. · indexed
  93. TARA 2.0 for Connected and Automated Vehicles · 2025 · Benyahya, Meriem et al. · indexed
  94. Advanced Test Tools for ADAS and ADS · 2021 · Albrecht, Heath et al. · archived
  95. Paradigms in Scenario-Based Testing for Automated Driving · 2021 · Brade, Tino et al. · indexed
  96. Challenges in Autonomous Vehicle Testing and Validation · 2016 · Koopman, Philip et al. · indexed
  97. Proposal of an Autonomous Vehicle Control Architecture · 2021 · Pozna, Claudiu Radu et al. · indexed
  98. Autonomous Vehicle Navigation · 2016 · Adouane, Lounis · archived
  99. PROUD-Public road urban driverless test: Architecture and results · 2014 · Broggi, Alberto et al. · archived
  100. Can Autonomous Vehicles Enhance Traffic Safety at Unsignalized Intersections? · 2020 · Mousavi, Seyedeh Maryam et al. · indexed
  101. Estimating Changes in Parking Capacity and Urban Form From Vehicle Automation · 2020 · Samaras, Constantine et al. · archived
  102. Robot First Aid: Autonomous Vehicles Could Help in Emergencies · 2021 · Cooney, Martin et al. · indexed
  103. Fault Tolerance and Fallback Strategies in Connected and Automated Vehicles: A Review · 2025 · Rodríguez-Arozamena, Mario et al. · archived
  104. Cost-based analysis of autonomous mobility services · 2017 · Bösch, Patrick M. et al. · indexed
  105. Safety of Autonomous Vehicles · 2020 · Wang, Jun et al. · indexed
  106. A Sociotechnical Transition to an Electric Autonomous Vehicle System · 2024 · Enjavi, Seyedamirreza et al. · archived
  107. Control Performance Requirements for Automated Driving Systems · 2024 · Vidano, Trevor et al. · indexed
  108. Autonomous Vehicle Fleet Sizes Required to Serve Different Levels of Demand · 2016 · Boesch, Patrick M. et al. · indexed
  109. Empty Vehicle Redistribution with Time Windows in Autonomous Taxi Systems · 2021 · Babicheva, Tatiana et al. · indexed
  110. The Effect of Autonomous Vehicles on Traffic · 2016 · Friedrich, Bernhard · archived
  111. Should autonomous shared taxis replace buses? A simulation study · 2019 · Leich, Gregor et al. · indexed
  112. Autonomous Driving - A Practical Roadmap · 2010 · Rupp, Jeffrey D. et al. · indexed
  113. The Shared-Ride Taxi System Requirements Study · 1979 · Field, G. J. et al. · archived
  114. Empty vehicle redistribution and fleet size in autonomous taxi systems · 2019 · Babicheva, Tatiana et al. · indexed
  115. State Route 60 automated truck facility. · 2008 · NHTSA · archived
  116. Transformations of European public spaces with AVs · 2023 · Martin, Robert et al. · indexed
  117. Fuel-saving opportunities for automated vehicles: A driving cycle analysis · 2023 · Jungblut, Edgar et al. · indexed
  118. Autonomous golf cars for public trial of mobility-on-demand service · 2015 · Pendleton, Scott et al. · archived
  119. UAS Air Carrier Operations Survey: Crew and Staffing Requirements · 2023 · Williams, Kevin W. et al. · archived
  120. Route Planning Considerations for Autonomous Vehicles · 2018 · Taha, Abd-Elhamid et al. · indexed
  121. Privacy implications and liability issues of autonomous vehicles · 2017 · Collingwood, Lisa · indexed
  122. On a Formal Model of Safe and Scalable Self-driving Cars · 2017 · Shalev-Shwartz, Shai et al. · archived
  123. A Driverless Alternative · 2014 · Brownell, Chris et al. · indexed
  124. Modern Middlewares for Automated Vehicles: A Tutorial · 2026 · Klüner, David Philipp et al. · archived
  125. On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment · 2017 · Alonso–Mora, Javier et al. · indexed
  126. Self-Driving Cars and the Urban Challenge · 2008 · Urmson, C. et al. · indexed
  127. On the validation of complex systems operating in open contexts · 2019 · Poddey, Alexander et al. · archived
  128. Transformations of European Public Spaces with AVs · 2021 · Martin, Robert et al. · indexed
  129. The Impact of Autonomous Vehicles on Cities: A Review · 2018 · Duarte, Fábio et al. · indexed
  130. Robot, you can drive my car · 2014 · Ross, Philip · indexed
  131. Autonomous vehicles testing methods review · 2016 · Huang, WuLing et al. · indexed
  132. Responsibility for Crashes of Autonomous Vehicles: An Ethical Analysis · 2014 · Hevelke, Alexander et al. · archived
  133. Safety-Critical Stabilization of Mixed Traffic by Pairs of CAVs · 2024 · Zhao, Chenguang et al. · archived
  134. Smart Roads: An Overview of What Future Mobility Will Look Like · 2020 · Trubia, Salvatore et al. · indexed
  135. Special Issue on Unmanned Aerial Vehicles · 2023 · Bertrand, Sylvain et al. · indexed
  136. Flying Car Transportation System: Advances, Techniques, and Challenges · 2020 · pan, Gaofeng et al. · indexed
  137. Data-Driven Traffic Simulation: A Comprehensive Review · 2024 · Chen, Di et al. · archived
  138. Self-Driving Software Benchmark for Model-Based Development · 2022 · Onozawa, Takumi et al. · indexed
  139. Testing and Verification of Connected and Autonomous Vehicles: A Review · 2025 · Alemayehu, H Bedane et al. · indexed
  140. A cloud-assisted design for autonomous driving · 2012 · Kumar, Swarun et al. · indexed
  141. Simulation Framework for Rebalancing of Autonomous Mobility on Demand Systems · 2016 · Marczuk Katarzyna A. et al. · archived
  142. Cooperative Control of SARTRE Automated Platoon Vehicles · 2012 · Chan, Eric et al. · indexed
  143. Conflict Resolution Advisory Service in autonomous aircraft operations · 2002 · Duong, V.N. et al. · indexed
  144. Fail-operational in safety-related automotive multi-core systems · 2015 · Kohn, André et al. · indexed
  145. How Autonomous Vehicles Can Affect Anomalies of Urban Transportation · 2025 · Filippi, Francesco et al. · indexed
  146. Kufast: A tool for multi-tenancy in autonomous driving testbeds · 2023 · Acar, Benjamin et al. · indexed
  147. Impacts of Platooning of Connected Automated Vehicles on Highways · 2024 · Martínez-Díaz, Margarita et al. · archived
  148. AI transportation scientist: LLM-driven autonomous research · 2026 · Xiaoyan, Gong et al. · indexed
  149. 1 year, 1000 km: The Oxford RobotCar dataset · 2016 · Maddern, Will et al. · archived
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  151. Investigation ofFutureAirTaxiServices UsingDiscrete-Event Simulation · 2006 · Boyd, Jeffrey A. et al. · indexed
  152. A Review of Truck Platooning Projects for Energy Savings · 2016 · Tsugawa, Sadayuki et al. · indexed
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  154. Investigation of Future Air Taxi Services Using Discrete-Event Simulation · 2006 · Boyd, Jeffrey A. et al. · indexed
  155. Autonomous Driving Development Rapid Prototyping Using ROS and Simulink · 2019 · Alzu'bi, Hamzeh et al. · indexed
  156. Test methods for autonomy of electric vehicles · 2018 · Małek, Arkadiusz Krzysztof et al. · archived
  157. An Overview of Parameter and Cost for Battery Electric Vehicles · 2021 · König, Adrian et al. · archived
  158. Reinforcement Learning from Gaming to Auto-Landing · 2025 · Carmeli, Guy et al. · indexed
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  160. On BRT Spread around the World: Analysis of Some Particular Cities · 2020 · Trubia, Salvatore et al. · indexed
  161. An autonomous drone-based system for inspection of electrical substations · 2021 · Langåker, Helge-André et al. · indexed
  162. Designing a Reliable UAV Architecture Operating in a Real Environment · 2021 · Gromada, Krzysztof Andrzej et al. · indexed
  163. PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving · 2021 · Xiao, Pengchuan et al. · archived
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  165. A vision-based navigation system for Unmanned Aerial Vehicles (UAVs) · 2019 · Al-Kaff, Abdulla et al. · archived
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  167. Robust localization for autonomous vehicles in dense urban areas · 2021 · Viana, Kerman et al. · indexed
  168. Electric roads: Reducing the societal cost of automotive electrification · 2017 · Fyhr, Pontus et al. · indexed
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  171. Dynamic Distributed Computing for Infrastructure-Assisted Autonomous UAVs · 2020 · Callegaro, Davide et al. · indexed
  172. Review of: "Longevity of Electric Vehicle Operations" · 2023 · Almeida, Luiz · archived
  173. Development of Electromobility in Terms of Freight Transport · 2019 · Cempírek, Václav et al. · archived
  174. Load Leveling Utilizing Electric Vehicles and their Used Batteries · 2016 · Aziz, Muhammad et al. · archived
  175. A four-quadrant HEV drive system · 2003 · Eriksson, S. et al. · indexed
  176. Ground-level feeding systems from rail to road · 2017 · Veyrunes, Philippe et al. · indexed
  177. Assessment of Future EV Charging Infrastructure Scenarios for Long-Distance Transport in Sweden · 2021 · Márquez-Fernández, Francisco J. et al. · indexed
  178. The Contribution of Intelligent Systems (IS) on Transport and Planning Studies · 2024 · Aydin, Metin Mutlu et al. · indexed
  179. Second Life for Plug-In Vehicle Batteries · 2012 · Williams, Brett · indexed
  180. Graph SLAM-Based 2.5D LIDAR Mapping Module for Autonomous Vehicles · 2021 · Aldibaja, Mohammad et al. · indexed
  181. Autonomous Vehicle Multi-Sensors Localization in Unstructured Environment · 2020 · Alrousan, Qusay et al. · indexed
  182. Electric Vehicles in Future Market Models · 2013 · Søndergren, Charlotte et al. · indexed
  183. Safety Barrier Certificates for Collisions-Free Multirobot Systems · 2017 · Wang, Li et al. · indexed
  184. Optimization of Charging Infrastructure for Electric Taxis · 2014 · Sellmair, Reinhard et al. · archived
  185. Frequency‐Control Reserves and Voltage Support from Electric Vehicles · 2013 · Pillai, Jayakrishnan R. et al. · indexed
  186. Extended utilization of electric vehicles in electrical grid services · 2017 · Aziz, Muhammad et al. · indexed
  187. The use of UAVs for civil engineering infrastructures · 2021 · Trubia, Salvatore et al. · indexed
  188. Smart grids: energising the future · 2013 · Putrus, G. A. et al. · indexed
  189. A Systematic Study on Reinforcement Learning Based Applications · 2023 · Sivamayil, Keerthana et al. · indexed
  190. The use of second life electric vehicle batteries for grid support · 2013 · Lacey, Gillian et al. · indexed
  191. A small fixed-wing UAV system identification using metaheuristics · 2022 · Nonut, Apiwat et al. · indexed
  192. History, Evolution, and Future Status of Energy Storage · 2012 · Whittingham, M. S. · indexed
  193. Rechargeable Battery Basics · 2014 · Burke, Andrew · indexed