# On-road Trajectory Planning with Spatio-temporal RRT* and Always-feasible Quadratic Program

> Research article (2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020) · cited 30× · AI/ML

**Wikidata**: [openalex:W3091964200](https://www.wikidata.org/wiki/openalex:W3091964200)  
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