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Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle
[article]
2019
arXiv
pre-print
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being computed as the previous plan is executed. The recent Reachability-based Trajectory Design (RTD) is a provably safe, real-time algorithm for trajectory planning. RTD consists of an offline component, where a Forward Reachable Set (FRS) is computed for the vehicle
arXiv:1902.01786v2
fatcat:s2xofs7esbf7vg76iiqr6n5cya