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.
Automatic parking trajectory planning in narrow spaces based on hybrid a* and nmpc.Scientific Reports, 15(1):1384
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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.