Presents a unified spatio-temporal semantic corridor (SSC) that abstracts semantic elements into connected collision-free cubes, enabling safe trajectory generation via QP with Bezier convex hull and hodograph guarantees.
Optimal trajectories for time-critical street scenarios using discretized terminal manifolds
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Safe Trajectory Generation for Complex Urban Environments Using Spatio-temporal Semantic Corridor
Presents a unified spatio-temporal semantic corridor (SSC) that abstracts semantic elements into connected collision-free cubes, enabling safe trajectory generation via QP with Bezier convex hull and hodograph guarantees.