# Balancing risk against utility: Behavior planning using predictive risk maps

> Research article (2015 IEEE Intelligent Vehicles Symposium (IV), 2015) · cited 26× · AI/ML

**Wikidata**: [openalex:W1563955540](https://www.wikidata.org/wiki/openalex:W1563955540)  
**Source**: https://4ort.xyz/entity/balancing-risk-against-utility-behavior-planning-using-predictive-risk-maps