Likhachev, MaximFerguson, Dave2023-05-222023-05-222008-06-252009-10-01https://repository.upenn.edu/handle/20.500.14332/34776In this paper, we present an algorithm for generating complex dynamically-feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically-feasible lattice state space. The resulting planner provides real-time performance and guarantees and control of the sub-optimality of its solution. We provide theoretical properties and experimental results from an implementation on an autonomous passenger vehicle that competed in, and completed, the Urban Challenge.Presentation