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This. Sharing a street with others requires human communication: a driver waves to a pedestrian wanting to use a crosswalk, or a pedestrian waves a driver through before doing so, or they both pause before one or the other goes first. Our streets aren't designed for robots, and while they may work on controlled-access highways in the not-too-distant future, I don't expect to see self-driving cars on city streets within the next few decades.

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