Optimization based trajectory planner for multilane roundabouts with connected automation

Keke Long, Zhibo Gao, Zehao Jiang, Chengyuan Ma, Jia Hu, Xiaoguang Yang. Optimization based trajectory planner for multilane roundabouts with connected automation. J. Intellig. Transport. Systems, 27(3):411-422, May 2023. [doi]

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