T${}^{\star }$-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles

James P. Wilson, Zongyuan Shen, Shalabh Gupta +1

In this paper, we develop a new algorithm, called T${}^{\star }$-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles. The T${}^{\star }$-Lite…