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Constrained iterative LQR for on-road autonomous driving motion planning

Jianyu Chen, Wei Zhan, Masayoshi Tomizuka. Constrained iterative LQR for on-road autonomous driving motion planning. In 20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017, Yokohama, Japan, October 16-19, 2017. pages 1-7, IEEE, 2017. [doi]

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