… for automated vehicles often … the vehicle must react in a timely manner. We present a novel
motion planning approach for automated vehicles, which combines set-based reachability …

… In order to verify the minimal time gap tgap, we can determine reachable sets of the other
vehicles and test them against the occupancy of the intended ego trajectory for τenter + tgap (…

… compliant reachable sets for a considered ego vehicle. Our overapproximative reachable
sets … attached to the reachable sets. An exemplary handcrafted rule can be described as “follow …

… the set of all possible occupancies of the automated vehicle … scenarios, we apply reachability
analysis to consider all … if the occupancy of the automated vehicle does not intersect that of …

… using reachable sets, ie, sets of states that the ego vehicle … By only creating samples within
the collisionfree reachable sets, … reachable sets for trajectory planning of automated vehicles,” …

… the reachable set of all possible motions of the ego vehicle and for dividing the reachable
set into … The numerical computation of the reachable set is over-approximative, ie no feasible …

… of time-varying occupancies of all obstacles Ok ⊂ R2 at step k, we define the set of … reachable
set of the ego vehicle at step k is defined as the set of states reachable from the initial set …

… which cells are reachable from which cells … reachable sets propagated from multiple points
in time. We demonstrate our approach on a large range of scenarios for automated vehicles …

… Hence, we define the dual of the reachable set in Definition 3 as … evolution of state trajectories
into the target set from one-step backward reachable set. X represents the admissible set. …

… reachable set of an autonomous vehicle … vehicle model in this paper has nonlinear continuous
dynamics, we focus on this class of systems: Most approaches compute reachable sets of …