Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios

Sterling J. Anderson, Steven C. Peters, Tom E. Pilutti, Karl Iagnemma. Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios. In Cédric Pradalier, Roland Siegwart, Gerhard Hirzinger, editors, Robotics Research - The 14th International Symposium, ISRR 2009, August 31 - September 3, 2009, Lucerne, Switzerland. Volume 70 of Springer Tracts in Advanced Robotics, pages 39-54, Springer, 2009. [doi]