Sandesh Thapa

Sandesh Thapa

Safety-critical control & planning; distributed control, learning, and decision making.

Clothoid-Based Path Planning with a Closed-Form Single-Trial Feasibility Predicate and Nonlinear Lateral Tracking for Low-Speed Automated Parking

Published in In preparation for IEEE Intelligent Vehicles Symposium (IV), 2026

Recommended citation: Thapa S. "Clothoid-Based Path Planning with a Closed-Form Single-Trial Feasibility Predicate and Nonlinear Lateral Tracking for Low-Speed Automated Parking." In preparation for IEEE Intelligent Vehicles Symposium (IV).

A closed-form, single-trial feasibility predicate for clothoid-based continuous-curvature planning, paired with a nonlinear lateral tracking controller for low-speed automated parking.