# TDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment

> Research article (2021 American Control Conference (ACC), 2021) · cited 33× · AI/ML

**Wikidata**: [openalex:W3183665216](https://www.wikidata.org/wiki/openalex:W3183665216)  
**Source**: https://4ort.xyz/entity/tdr-obca-a-reliable-planner-for-autonomous-driving-in-free-space-environment