SROP is a two-layer framework that searches spatio-temporal topologies for diverse initial paths and applies reachable sets to decouple kinematic constraints for accelerated feasible trajectory evaluation, with reported 66.8% smoothness improvement and 62.9% faster computation.
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An Overtaking Trajectory Planning Framework Based on Spatio-temporal Topology and Reachable Set Analysis Ensuring Time Efficiency
SROP is a two-layer framework that searches spatio-temporal topologies for diverse initial paths and applies reachable sets to decouple kinematic constraints for accelerated feasible trajectory evaluation, with reported 66.8% smoothness improvement and 62.9% faster computation.