# Anytime Tree-Based Trajectory Planning for Urban Driving

> Research article (IEEE Open Journal of Intelligent Transportation Systems, 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4315630891](https://www.wikidata.org/wiki/openalex:W4315630891)  
**Source**: https://4ort.xyz/entity/anytime-tree-based-trajectory-planning-for-urban-driving