Self-driving cars, or autonomous vehicles, may be the greatest disruptive innovation to travel that we have experienced in a century. A fully-automated, self-driving car is able to perceive its environment, determine the optimal route, and drive unaided by human intervention for the entire journey. Self-driving cars have the potential to drastically reduce accidents, travel time, and the environmental impact of road travel. However, obstacles remain for the full implementation of the technology . . .