Kim, J., Sato, K., Hashimoto, N., Kashevnik, A., Tomita, K., Miyakoshi, S., Takinami, Y., Matsumoto, O., Boyali, A.: Context-Based Rider Assistant System for Two Wheeled Self-Balancing Vehicles. SPIIRAS Proceedings 18(3), 583-614 (2019). doi:10.15622/sp.2019.18.3.582-613