Klemens Esterle is a research scientist at fortiss and a PhD student at TUM. His research focuses on combining formal methods to model multi-agent constraints from traffic rules with interactive behavior planning. He studied Mechatronics Engineering at the Technische Universität Dresden, graduating in 2014. Afterwards, he worked as a simulation engineer in the field of systems engineering. In 2017, he joined fortiss as a staff researcher in the competence field autonomous systems and sensor systems and started his PhD. He gained experience in autonomous driving during industry cooperations for autonomous valet parking, prediction and simulation.