# Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4285102188](https://www.wikidata.org/wiki/openalex:W4285102188)  
**Source**: https://4ort.xyz/entity/fast-and-optimal-trajectory-planning-for-multiple-vehicles-in-a-nonconvex-and-cluttered-environment-benchmarks-methodolo