Optimal motion planning with the half-car dynamical model for autonomous high-speed driving - Jeong hwan Jeon; Cowlagi, Raghvendra V.; Peters, Steven C.; Karaman, Sertac; Frazzoli, Emilio; Tsiotras, Panagiotis; Iagnemma, Karl (2013 American Control Conference, 2013)
Keywords: Acceleration; Friction; Heuristic algorithms; Planning; Tires; Trajectory; Vehicles