# Safe Planning for Self-Driving Via Adaptive Constrained ILQR

> Research article (2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020) · cited 29× · AI/ML

**Wikidata**: [openalex:W3131966680](https://www.wikidata.org/wiki/openalex:W3131966680)  
**Source**: https://4ort.xyz/entity/safe-planning-for-self-driving-via-adaptive-constrained-ilqr