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Safety Tunnel-Based Model Predictive Path-Planning Controll..:

Lin, Pengfei ; Quan, Ying Shuai ; Yang, Jin Ho..
IEEE Transactions on Intelligent Transportation Systems.  24 (2023)  4 - p. 3974-3985 , 2023
Link: https://doi.org/10.1109/tits.2022.3229699