Graphs of convex sets with Bezier paths and a simplified bicycle model produce trajectories that closely match nonlinear optimal control results but with better speed and initialization robustness in CommonRoad driving scenarios.
Learning hierarchical behavior and motion planning for autonomous driving,
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Motion Planning for Autonomous Vehicles using Optimization over Graphs of Convex Sets
Graphs of convex sets with Bezier paths and a simplified bicycle model produce trajectories that closely match nonlinear optimal control results but with better speed and initialization robustness in CommonRoad driving scenarios.