A hierarchical planner for multi-vehicle racing that selects behavior with a spatio-temporal visibility graph then constrains time-optimal control via maneuver envelopes.
Optimal motion planning with the half-car dynam- ical model for autonomous high-speed driving,
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Hierarchical Time-Optimal Planning for Multi-Vehicle Racing
A hierarchical planner for multi-vehicle racing that selects behavior with a spatio-temporal visibility graph then constrains time-optimal control via maneuver envelopes.