A hierarchical planner for multi-vehicle racing that selects behavior with a spatio-temporal visibility graph then constrains time-optimal control via maneuver envelopes.
An iterative procedure for the polygonal approximation of plane curves,
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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.