# A Hierarchical Motion Planning System for Driving in Changing Environments: Framework, Algorithms, and Verifications

> Research article (IEEE/ASME Transactions on Mechatronics, 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4312757831](https://www.wikidata.org/wiki/openalex:W4312757831)  
**Source**: https://4ort.xyz/entity/a-hierarchical-motion-planning-system-for-driving-in-changing-environments-framework-algorithms-and-verifications