Search-based motion planning generates optimal dynamic trajectories for minimum-lap-time autonomous driving on slippery roads in simulation by explicitly handling nonlinear vehicle models and state/input constraints.
Optimality properties and driver input parameteriz ation for trail-braking cornering,
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Search-Based Motion Planning for Performance Autonomous Driving
Search-based motion planning generates optimal dynamic trajectories for minimum-lap-time autonomous driving on slippery roads in simulation by explicitly handling nonlinear vehicle models and state/input constraints.