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Optimization-Based Hierarchical Motion Planning for Autonomous Racing pdf

John Lygeros, Alexander Liniger, Alisa Rupenyan, 2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Models

J. L. Vázquez, L. Gool, D. Rus, 2022, L4DC.