# Hierarchical Trajectory Planning for Narrow-Space Automated Parking with Deep Reinforcement Learning: A Federated Learning Scheme

> Research article (Sensors, 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4366420594](https://www.wikidata.org/wiki/openalex:W4366420594)  
**Source**: https://4ort.xyz/entity/hierarchical-trajectory-planning-for-narrow-space-automated-parking-with-deep-reinforcement-learning-a-federated-learnin