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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Changyu Lee

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Preprint Aug 2026

Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions

This paper presents a guide path-free multimodal trajectory planning framework for autonomous surface vehicles operating in dynamic environments. The proposed method integrates model predictive control (MPC) with a turning circle-based control barrier function (TC-CBF). Unlike conventional Euclidean distance-based CBFs...

Chang-Yu Lee · 0 citations

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