Safe receding horizon path planning for autonomous vehicles

A flat topped support useable as a table and as a seat is made of lumber. A top is made of a plurality of short boards side-by-side and two spaced apart wood strips which extend across the undersides of the boards and is secured to all of them. The edges of the strips that face each other are undercut to form channels or recesses. Two or more pairs of crossed wooden legs support the top. A pivot bolt pivotally secures the legs of each pair together. Outside the legs at the top of the leg pairs a brace board connects the adjacent pairs and seat in the recesses. A locking bar is suspended from the top midway between the strips by a coiled spring and has its ends notched to provide seats for the lower edges of the brace boards. The spring is of such length that it is under tension when the notches of the bar seat on the lower edges of the brace boards. Lower brace boards may be used to hold the spacing between adjacent pairs.

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