Prof. Dr.-Ing. Andreas Festag

Research professorship in Cooperative Intelligent Transport Systems; Ombudsman for Good Scientific Practice; Business Start-Up Mentor of the Faculty

+49 841 9348-2255

Andreas.Festag@thi.de

Room: A122

Subject Area: Vehicle safety and Car2X communication

Faculty: Fakultät E

Research

Car-2-X and Intelligent Transport Systems
Communication-based vehicle safety and vehicle automation
Protocol design and performance evaluation of communication systems

Vita

Since 2018 at THI
03/2013 - 06/2016: Research Group Manager, Technische Universität Dresden, Vodafone Stiftungslehrstuhl für Mobile Nachrichtensysteme
09/2003 - 02/2013: Chief Researcher, NEC Laboratories Europe, Heidelberg
12/1996 - 12/2001: Research Assistant, Technische Universität Berlin
PhD, Technische Universität Berlin
Study Electrical Engineering (Focus Communications engineering and Communication networks), Technische Universität Berlin

Publications

„End-to-End Performance Measurements of Drone Communications in 5G Cellular Networks”, A. Festag et al., IEEE Conference on Vehicular Technology (VTC2021-Fall), 2021
„A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles”, D. Maksimovski, A. Festag, C. Facchi, International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), 2021
„Design and Performance of Congestion-Aware Collective Perception“, Q. Delooz, R. Riebl, A. Festag, A. Vinel, IEEE Vehicular Networking Conference (VNC), 2020
„Mode Switching Performance in Cellular-V2X”, A. Hegde, A. Festag, IEEE Vehicular Networking Conference (VNC), 2020
„Evaluation of Congestion-Enabled Forwarding With Mixed Data Traffic in Vehicular Communications”, S. Kühlmorgen, H. Lu, A. Festag, J. Kenney, S. Gemsheim, G. Fettweis, IEEE Transactions on Intelligent Transportation Systems 21 (1), 233-247

Link/reference to further information

Awards and memberships

Rotary Research Award 2023 of the Rotary Club Ingolstadt
Memebr of Institute of Electrical and Electronics Engineers (IEEE)

Publications

2026

MAKSIMOVSKI, Daniel, Andreas FESTAG und Christian FACCHI, 2026. Adaptive Message Generation Rules for V2X Maneuver Coordination Service. IEEE Access, 14, 6417-6437. ISSN 2169-3536. Available at: https://doi.org/10.1109/ACCESS.2026.3652364

JAGTAP, Abhishek Dinkar, Sanath Tiptur SADASHIVAIAH und Andreas FESTAG, 2026. Hyper-V2X: Hypernetworks for Estimating Epistemic and Aleatoric Uncertainty in Cooperative Bird’s-Eye-View Semantic Segmentation [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2605.21309

2025

WAN, Lei, Jianxin ZHAO, Andreas WIEDHOLZ, Manuel BIED, Mateus MARTINEZ DE LUCENA, Abhishek Dinkar JAGTAP, Andreas FESTAG, Antônio FRÖHLICH, Hannan Ejaz KEEN und Alexey VINEL, 2025. A Systematic Literature Review on Vehicular Collaborative Perception – A Computer Vision Perspective [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2504.04631

WAN, Lei, Jianxin ZHAO, Andreas WIEDHOLZ, Manuel BIED, Mateus MARTINEZ DE LUCENA, Abhishek Dinkar JAGTAP, Andreas FESTAG, Antônio FRÖHLICH, Hannan Ejaz KEEN und Alexey VINEL, 2025. A Systematic Literature Review on Vehicular Collaborative Perception—A Computer Vision Perspective. IEEE Transactions on Intelligent Transportation Systems, 27(1), 81-118. ISSN 1558-0016. Available at: https://doi.org/10.1109/TITS.2025.3631141

BIALDYGA, Maximilian, Andreas EICH, Christian FACCHI, Andreas FESTAG, Nicole HINTERBERGER, Abhishek Dinkar JAGTAP, Frank LEHMANN, Stefan SCHIESSER, Anna-Lena SCHLAMP, Stefanie SCHMIDTNER und Rui SONG, 2025. Abschlussbericht zum Projekt 5GoIng – 5G-Innovationskonzept Ingolstadt. Hannover: TIB. Available at: https://doi.org/10.34657/22341

LOBO, Silas, Andreas FESTAG und Christian FACCHI, 2025. Adaptive Message Prioritization: How to Prioritize VRU Awareness Messages in a Congested V2X Network. 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC). Piscataway: IEEE, Page 423-430. ISBN 979-8-3315-0592-9. Available at: https://doi.org/10.1109/ITSC58415.2024.10919704

SONG, Rui, Chenwei LIANG, Yan XIA, Walter ZIMMER, Hu CAO, Holger CAESAR, Andreas FESTAG und Alois KNOLL, 2025. CoDa-4DGS: Dynamic Gaussian Splatting with Context and Deformation Awareness for Autonomous Driving [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2503.06744

JAGTAP, Abhishek Dinkar, Rui SONG, Sanath Tiptur SADASHIVAIAH und Andreas FESTAG, 2025. V2X-Gaussians: Gaussian Splatting for Multi-Agent Cooperative Dynamic Scene Reconstruction. 2025 IEEE Intelligent Vehicles Symposium (IV). Piscataway: IEEE, Page 1033-1039. ISBN 979-8-3315-3803-3. Available at: https://doi.org/10.1109/IV64158.2025.11097436

2024

MAKSIMOVSKI, Daniel, Christian FACCHI und Andreas FESTAG, 2024. A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination. 2024 IEEE Vehicular Networking Conference (VNC). Piscataway: IEEE, Page 1-8. ISBN 979-8-3503-6270-1. Available at: https://doi.org/10.1109/VNC61989.2024.10575992

SONG, Rui, Chenwei LIANG, Hu CAO, Zhiran YAN, Walter ZIMMER, Markus GROSS, Andreas FESTAG und Alois KNOLL, 2024. Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2402.07635

BAUDER, Maximilian, Andreas FESTAG, Tibor KUBJATKO und Hans-Georg SCHWEIGER, 2024. Data accuracy in Vehicle-to-X cooperative awareness messages: An experimental study for the first commercial deployment of C-ITS in Europe. Vehicular Communications, 2024(47), 100744. ISSN 2214-2096. Available at: https://doi.org/10.1016/j.vehcom.2024.100744

DELOOZ, Quentin, Daniel MAKSIMOVSKI, Andreas FESTAG und Christian FACCHI, 2024. Design and Evaluation of V2X Communication Protocols for Cooperatively Interacting Automobiles. In: STILLER, Christoph, Matthias ALTHOFF, Christoph BURGER, Barbara DEML, Lutz ECKSTEIN und Frank FLEMISCH, Editors Cooperatively Interacting Vehicles: Methods and Effects of Automated Cooperation in Traffic. Cham: Springer, Page 159-199. ISBN 978-3-031-60494-2. Available at: https://doi.org/10.1007/978-3-031-60494-2_6

SONG, Rui, Andreas FESTAG, Abhishek Dinkar JAGTAP, Maximilian BIALDYGA, Zhiran YAN, Maximilian OTTE, Sanath Tiptur SADASHIVAIAH und Alois KNOLL, 2024. First Mile: An Open Innovation Lab for Infrastructure-Assisted Cooperative Intelligent Transportation Systems. 2024 IEEE Intelligent Vehicles Symposium (IV). Piscataway: IEEE, Page 1635-1642. ISBN 979-8-3503-4881-1. Available at: https://doi.org/10.1109/IV55156.2024.10588500

BAZZI, Alessandro, Miguel SEPULCRE, Quentin DELOOZ, Andreas FESTAG, Jonas VOGT, Horst WIEKER, Friedbert BERENS und Paul SPAANDERMAN, 2024. Multi-Channel Operation for the Release 2 of ETSI Cooperative Intelligent Transport Systems. IEEE Communications Standards Magazine, 8(1), 28-35. ISSN 2471-2833. Available at: https://doi.org/10.1109/MCOMSTD.0001.2200080

MAKSIMOVSKI, Daniel, Christian FACCHI und Andreas FESTAG, 2024. Packet Rate Control for Maneuver Coordination in Congested V2X Communication Environments. 2024 IEEE 100th Vehicular Technology Conference (VTC2024-Fall), Proceedings. Piscataway: IEEE. ISBN 979-8-3315-1778-6. Available at: https://doi.org/10.1109/VTC2024-Fall63153.2024.10758036

2023

LOBO, Silas, Andreas FESTAG und Christian FACCHI, 2023. Enhancing the Safety of Vulnerable Road Users: Messaging Protocols for V2X Communication. 2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall) Proceedings. Piscataway: IEEE. ISBN 978-1-6654-5468-1. Available at: https://doi.org/10.1109/VTC2022-Fall57202.2022.10012775

GOECKENJAN, Maren, Andreas FESTAG und Jakob Nikolas KATHER, 2023. Entscheidungsfindungen in der Reproduktionsmedizin: von der menschlichen zur künstlichen Intelligenz. Gynäkologische Endokrinologie, 21(1), 72-77. ISSN 1610-2908. Available at: https://doi.org/10.1007/s10304-022-00489-9

SONG, Rui, Runsheng XU, Andreas FESTAG, Jiaqi MA und Alois KNOLL, 2023. FedBEVT: Federated Learning Bird's Eye View Perception Transformer in Road Traffic Systems. IEEE Transactions on Intelligent Vehicles, 9(1), 958-969. ISSN 2379-8904. Available at: https://doi.org/10.1109/TIV.2023.3310674

SONG, Rui, Dai LIU, Dave Zhenyu CHEN, Andreas FESTAG, Carsten TRINITIS, Martin SCHULZ und Alois KNOLL, 2023. Federated Learning via Decentralized Dataset Distillation in Resource-Constrained Edge Environments. IJCNN 2023 Conference Proceedings. Piscataway: IEEE. ISBN 978-1-6654-8867-9. Available at: https://doi.org/10.1109/IJCNN54540.2023.10191879

DELOOZ, Quentin, Alexey VINEL und Andreas FESTAG, 2023. Optimizing the channel resource usage for sensor data sharing with V2X communications. at - Automatisierungstechnik, 71(4), 311-317. ISSN 2196-677X. Available at: https://doi.org/10.1515/auto-2022-0162

HEGDE, Anupama, Quentin DELOOZ, Chethan L. MARIYAKLLA, Andreas FESTAG und Florian KLINGLER, 2023. Radio Resource Allocation for Collective Perception in 5G-NR Vehicle-to-X Communication Systems. 2023 IEEE Wireless Communications and Networking Conference (WCNC): Proceedings. Piscataway: IEEE. ISBN 978-1-6654-9122-8. Available at: https://doi.org/10.1109/WCNC55385.2023.10118606

HEGDE, Anupama, Rui SONG und Andreas FESTAG, 2023. Radio Resource Allocation in 5G-NR V2X: A Multi-Agent Actor-Critic Based Approach. IEEE Access, 11, 87225-87244. ISSN 2169-3536. Available at: https://doi.org/10.1109/ACCESS.2023.3305267

SONG, Rui, Liguo ZHOU, Lingjuan LYU, Andreas FESTAG und Alois KNOLL, 2023. ResFed: Communication-Efficient Federated Learning With Deep Compressed Residuals. IEEE Internet of Things Journal, 11(6), 9458-9472. ISSN 2327-4662. Available at: https://doi.org/10.1109/JIOT.2023.3324079

ZHOU, Liguo, Rui SONG, Guang CHEN, Andreas FESTAG und Alois KNOLL, 2023. Residual encoding framework to compress DNN parameters for fast transfer. Knowledge-Based Systems, 2023(277), 110815. ISSN 1872-7409. Available at: https://doi.org/10.1016/j.knosys.2023.110815

DELOOZ, Quentin, Andreas FESTAG, Alexey VINEL und Silas LOBO, 2023. Simulation-Based Performance Optimization of V2X Collective Perception by Adaptive Object Filtering. 2023 IEEE Intelligent Vehicles Symposium (IV): Proceedings. Piscataway: IEEE. ISBN 979-8-3503-4691-6. Available at: https://doi.org/10.1109/IV55152.2023.10186788

SONG, Rui, Lingjuan LYU, Wei JIANG, Andreas FESTAG und Alois KNOLL, 2023. V2X-Boosted Federated Learning for Cooperative Intelligent Transportation Systems with Contextual Client Selection. CoPerception: Collaborative Perception and Learning, ICRA 2023 workshop. Available at: https://drive.google.com/file/d/1-OQAeNryd7-lksCTuWnhhyydpFSnw5On/view?usp=share_link

2022

DELOOZ, Quentin, Alexander WILLECKE, Keno GARLICHS, Andreas-Christian HAGAU, Lars WOLF, Alexey VINEL und Andreas FESTAG, 2022. Analysis and Evaluation of Information Redundancy Mitigation for V2X Collective Perception. IEEE Access, 10, 47076-47093. ISSN 2169-3536. Available at: https://doi.org/10.1109/ACCESS.2022.3170029

HEGDE, Anupama, Silas LOBO und Andreas FESTAG, 2022. Cellular-V2X for Vulnerable Road User Protection in Cooperative ITS. 2022 18th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob). Piscataway: IEEE, Page 118-123. ISBN 978-1-6654-6975-3. Available at: https://doi.org/10.1109/WiMob55322.2022.9941707

MAKSIMOVSKI, Daniel, Christian FACCHI und Andreas FESTAG, 2022. Cooperative Driving: Research on Generic Decentralized Maneuver Coordination for Connected and Automated Vehicles. In: KLEIN, Cornel, Matthias JARKE, Markus HELFERT, Karsten BERNS und Oleg GUSIKHIN, Editors Smart Cities, Green Technologies, and Intelligent Transport Systems: 10th International Conference, SMARTGREENS 2021, and 7th International Conference, VEHITS 2021, Virtual Event, April 28-30, 2021, Revised Selected Papers. Cham: Springer, Page 348-370. ISBN 978-3-031-17097-3. Available at: https://doi.org/10.1007/978-3-031-17098-0_18

SONG, Rui, Anupama HEGDE, Numan SENEL, Alois KNOLL und Andreas FESTAG, 2022. Edge-Aided Sensor Data Sharing in Vehicular Communication Networks. 2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring) Proceedings. Piscataway (NJ): IEEE. ISBN 978-1-6654-8243-1. Available at: https://doi.org/10.1109/VTC2022-Spring54318.2022.9860849

SONG, Rui, Liguo ZHOU, Venkatnarayanan LAKSHMINARASIMHAN, Andreas FESTAG und Alois KNOLL, 2022. Federated Learning Framework Coping with Hierarchical Heterogeneity in Cooperative ITS. 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC). Piscataway: IEEE, Page 3502-3508. ISBN 978-1-6654-6880-0.

SONG, Rui, Dai LIU, Dave Zhenyu CHEN, Andreas FESTAG, Carsten TRINITIS, Martin SCHULZ und Alois KNOLL, 2022. Federated Learning via Decentralized Dataset Distillation in Resource Constrained Edge Environments [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2208.11311

HEGDE, Anupama, Ringo STAHL, Silas LOBO und Andreas FESTAG, 2022. Modeling Cellular Network Infrastructure in SUMO. In: ALVAREZ LOPEZ, Pablo, Olaf Angelo BANSE BUENO, Maria Giuliana ARMELLINI, Michael BEHRISCH, Laura BIEKER-WALZ, Jakob ERDMANN, Yun-Pang FLÖTTERÖD, Robert HILBRICH, Ronald NIPPOLD, Johannes RUMMEL, Matthias SCHWAMBORN, Peter WAGNER und Melanie WEBER, Editors SUMO User Conference 2021. Hannover: TIB Open Publishing, Page 99-113. Available at: https://doi.org/10.52825/scp.v2i.97

SONG, Rui, Liguo ZHOU, Lingjuan LYU, Andreas FESTAG und Alois KNOLL, 2022. ResFed: Communication Efficient Federated Learning by Transmitting Deep Compressed Residuals [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2212.05602

2021

MAKSIMOVSKI, Daniel, Andreas FESTAG und Christian FACCHI, 2021. A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles. Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems. Setúbal: SciTePress, Page 100-111. ISBN 978-989-758-513-5. Available at: https://doi.org/10.5220/0010442501000111

FESTAG, Andreas und Rui SONG, 2021. Analysis of Existing Approaches for Information Sharing in Cooperative Intelligent Transport Systems: SENSORIS and V2X Messaging. FISITA World Congress 2021. Bishops Stortford: FISITA. Available at: https://www.fisita.com/library/f2020-acm-012

DELOOZ, Quentin, Andreas FESTAG und Alexey VINEL, 2021. Congestion Aware Objects Filtering for Collective Perception. Electronic Communications of the EASST, 80. ISSN 1863-2122. Available at: http://dx.doi.org/10.14279/tuj.eceasst.80.1160

DELOOZ, Quentin, Raphael RIEBL, Andreas FESTAG und Alexey VINEL, 2021. Design and Performance of Congestion-Aware Collective Perception. 2020 IEEE Vehicular Networking Conference (VNC). Piscataway: IEEE. ISBN 978-1-7281-9221-5. Available at: https://doi.org/10.1109/VNC51378.2020.9318335

FESTAG, Andreas, Shrivatsa UDUPA, Lourdes GARCIA, Ralf WELLENS, Matthias HECHT und Pierre ULFIG, 2021. End-to-End Performance Measurements of Drone Communications in 5G Cellular Networks. 2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall): Proceedings. Piscataway: IEEE. ISBN 978-1-6654-1368-8. Available at: https://doi.org/10.1109/VTC2021-Fall52928.2021.9625429

HEGDE, Anupama und Andreas FESTAG, 2021. Mode Switching Performance in Cellular-V2X. 2020 IEEE Vehicular Networking Conference (VNC). Piscataway: IEEE. ISBN 978-1-7281-9221-5. Available at: https://doi.org/10.1109/VNC51378.2020.9318394

MAKSIMOVSKI, Daniel, Christian FACCHI und Andreas FESTAG, 2021. Priority Maneuver (PriMa) Coordination for Connected and Automated Vehicles. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC). Piscataway: IEEE, Page 1083-1089. ISBN 978-1-7281-9142-3. Available at: https://doi.org/10.1109/ITSC48978.2021.9564923

VOLK, Georg, Quentin DELOOZ, Florian SCHIEGG, Alexander von BERNUTH, Andreas FESTAG und Oliver BRINGMANN, 2021. Towards Realistic Evaluation of Collective Perception for Connected and Automated Driving. 2021 IEEE International Intelligent Transportation Systems Conference (ITSC). Piscataway: IEEE, Page 1049-1056. ISBN 978-1-7281-9142-3. Available at: https://doi.org/10.1109/ITSC48978.2021.9564783

2020

HEGDE, Anupama und Andreas FESTAG, 2020. Artery-C: An OMNeT++ Based Discrete Event Simulation Framework for Cellular V2X. MSWiM '20: Proceedings of the 23rd International ACM Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems. New York: ACM, Page 47-51. ISBN 978-1-4503-8117-8. Available at: https://doi.org/10.1145/3416010.3423240

HEGDE, Anupama und Andreas FESTAG, 2020. Artery-C: An OMNeT++ Based Discrete Event Simulation Framework for Cellular V2X [Preprint]. arXiv. Available at: https://doi.org/10.48550/arXiv.2009.05724

DELOOZ, Quentin und Andreas FESTAG, 2020. Network Load Adaptation for Collective Perception in V2X Communication. 2019 IEEE ICCVE, The 8th IEEE International Conference on Connected Vehicles and Expo (ICCVE), November 4-8, 2019, 2019 Conference Proceedings. Piscataway: IEEE. ISBN 978-1-7281-0142-2. Available at: https://doi.org/10.1109/ICCVE45908.2019.8964988

DELOOZ, Quentin, Andreas FESTAG und Alexey VINEL, 2020. Revisiting Message Generation Strategies for Collective Perception in Connected and Automated Driving. VEHICULAR 2020: The Ninth International Conference on Advances in Vehicular Systems, Technologies and Applications. [s. l.]: IARIA, Page 46-52. ISBN 978-1-61208-795-5. Available at: https://www.thinkmind.org/index.php?view=article&articleid=vehicular_2020_1_80_30039

SENEL, Numan, Gordon ELGER und Andreas FESTAG, 2020. Sensor Time Synchronization in Smart Road Infrastructure. FISITA Web Congress 2020. Bishops Stortford: FISITA. Available at: https://www.fisita.com/library/f2020-acm-083

2019

KÜHLMORGEN, Sebastian, Hongsheng LU, Andreas FESTAG, John KENNEY, Sebastian GEMSHEIM und Gerhard FETTWEIS, 2019. Evaluation of Congestion-Enabled Forwarding With Mixed Data Traffic in Vehicular Communications. IEEE Transactions on Intelligent Transportation Systems, 21(1), 233-247. ISSN 1558-0016. Available at: https://doi.org/10.1109/TITS.2018.2890619

HEGDE, Anupama und Andreas FESTAG, 2019. Mode Switching Strategies in Cellular-V2X. IFAC-PapersOnLine, 52(8), 81-86. ISSN 2405-8963. Available at: https://doi.org/10.1016/j.ifacol.2019.08.052

HUNG, Shao-Chou, Xin ZHANG, Andreas FESTAG, Kwang-Cheng CHEN und Gerhard FETTWEIS, 2019. Vehicle-Centric Network Association in Heterogeneous Vehicle-to-Vehicle Networks. IEEE Transactions on Vehicular Technology, 68(6), 5981-5996. ISSN 1939-9359. Available at: https://doi.org/10.1109/TVT.2019.2910324

2018

FRITZSCHE, Richard und Andreas FESTAG, 2018. Location-Based Scheduling for Cellular V2V Systems in Highway Scenarios. 2018 IEEE 87th Vehicular Technology Conference (VTC Spring) Proceedings. Piscataway: IEEE. ISBN 978-1-5386-6355-4. Available at: https://doi.org/10.1109/VTCSpring.2018.8417744

FRITZSCHE, Richard und Andreas FESTAG, 2018. Reliability Maximization with Location-Based Scheduling for Cellular-V2X Communications in Highway Scenarios. 2018 16th International Conference on Intelligent Transportation Systems Telecommunications (ITST) Proceedings. Piscataway: IEEE. ISBN 978-1-5386-5544-3. Available at: https://doi.org/10.1109/ITST.2018.8566935

KÜHLMORGEN, Sebastian, Patrick SCHMAGER, Andreas FESTAG und Gerhard FETTWEIS, 2018. Simulation-Based Evaluation of ETSI ITS-G5 and Cellular-VCS in a Real-World Road Traffic Scenario. 2018 IEEE 88th Vehicular Technology Conference (VTC-Fall) Proceedings. Piscataway: IEEE. ISBN 978-1-5386-6358-5. Available at: https://doi.org/10.1109/VTCFall.2018.8691011

2011

RÖGLINGER, Sebastian und Christian FACCHI, 2011. Behavior Specification of a Red-Light Violation Warning Application - An Approach for Specifying Reactive Vehicle-2-X Communication Applications. In: STRANG, Thomas, Andreas FESTAG, Alexey VINEL, Rashid MEHMOOD, Cristina RICO GARCÍA und Matthias RÖCKL, Editors Communication Technologies for Vehicles: Third International Workshop, Nets4Cars/Nets4Trains 2011, Oberpfaffenhofen, Germany, March 23-24, 2011. Proceedings. Berlin: Springer, Page 106-118. ISBN 978-3-642-19785-7. Available at: https://doi.org/10.1007/978-3-642-19786-4_10