Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles - Xiao, Wei; Cassandras, Christos G; Belta, Calin A (arXiv.org, 2020)
Keywords: Acceleration; Computational efficiency; Computer simulation; Dynamical systems; Energy conservation; Energy consumption; Liapunov functions; Noise control; Nonlinear dynamics; Optimal control; Passenger comfort; Real time; Safety critical; Trajectory control; Trajectory optimization; Trajectory planning; Travel time