An oncoming rush of self-driving cars is creating uncertainty for urban planners as they make infrastructure decisions for the future, according to a panel at the University of Pennsylvania. “The pace of [autonomous vehicle] technology … is incredible,” said Daniel Lee, director of the General Robotics Automation, Sensing & Perception (GRASP) Lab at Penn Engineering. Lee joined two other Penn professors and an official from the U.S. Department of Transportation (DoT) in a discussion Wednesday on automation and the future of cities.