N3P decomposes automated parking into three stages via a learned preparatory pose, accelerating Hybrid A* by over 80% while outperforming RL baselines in success rate and trajectory quality.
Shortest paths for the reeds- shepp car: a worked out example of the use of geometric techniques in nonlinear optimal control, 1991
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N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme
N3P decomposes automated parking into three stages via a learned preparatory pose, accelerating Hybrid A* by over 80% while outperforming RL baselines in success rate and trajectory quality.