Embodied Footprints: A Safety-Guaranteed Collision-Avoidance Model for Numerical Optimization-Based Trajectory Planning.
Bai LiYoumin ZhangTantan ZhangTankut AcarmanYakun OuyangLi LiHairong DongDongpu CaoPublished in: IEEE Trans. Intell. Transp. Syst. (2024)