Acknowledgement
이 논문은 한국철도기술연구원 자율주행 트램 기술고도화 및 시험운행과제의 지원을 받아 수행된 연구임(PK2103C5). 이 논문은 행정안전부 극한재난대응기반기술개발사업의 지원을 받아 수행된 연구임(2020-MOIS31-014).
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