most citedReal-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints

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cs.RO2022★ 1 cited

Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints

Rowan Dempster, Mohammad Al-Sharman, Derek Rayside +1

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obsta…