A systematic empirical study on CommonRoad maps shows that nominal inter-waypoint spacing dominates performance in sampling-based trajectory planners, with uniform sampling matching or exceeding geometry-aware alternatives.
Optimal multi-criteria waypoint selection for autonomous vehicle navigation in structured environment,
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Waypoints Matter: A Systematic Study for Sampling-Based Trajectory Planning
A systematic empirical study on CommonRoad maps shows that nominal inter-waypoint spacing dominates performance in sampling-based trajectory planners, with uniform sampling matching or exceeding geometry-aware alternatives.