Author

Shi-Fu Yang

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Preprint Oct 2026

Dynamics-Aware Adaptive Corridors with Feasibility-Perturbed Trust-Region SQP for Certified Nonholonomic Motion Planning

A planner for car-like vehicles with reverse gear in which every iterate of the optimisation phase satisfies the discretised dynamics exactly and keeps the whole vehicle rectangle clear of obstacles between the samples.

Shi-Fu Yang · 0 citations