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Author

Astha Tiwari

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Conference Aug 2026

Fast Adaptive Planning for Autonomous Tractor-Trailer Systems via Iterative LQR Steering

This paper presents a fast adaptive planning method for tractor-trailer systems that resolves parameter uncertainties by adapting a nominal trajectory to true parameters via iLQR, eliminating the need to store MPs for various configurations.

Tian-Yu Zhou, Ye-Wei Wang, Akhil Umat et al. · 0 citations

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