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Incrementally constrained dynamic optimization: A computational framework for lane change motion planning of connected and automated vehicles

Bai Li, Ning Jia, Pu Li, Xudong Ran, Yan Li. Incrementally constrained dynamic optimization: A computational framework for lane change motion planning of connected and automated vehicles. J. Intellig. Transport. Systems, 23(6):557-568, 2019. [doi]

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