Convex feasible set algorithm for constrained trajectory smoothing. - Changliu Liu; Chung-Yen Lin; Yizhou Wang 003; Masayoshi Tomizuka (ACC, 2017)

Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments. - Changliu Liu; Yizhou Wang 003; Masayoshi Tomizuka (Intelligent Vehicles Symposium, 2017)