@article{tstarliteafasttimeriskoptimalmotion,
  title = {T$^{\star}$-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles},
  author = {James P. Wilson and Zongyuan Shen and Shalabh Gupta and Thomas A. Wettergren},
  year = {2020},
  eprint = {2008.13048},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2008.13048v1},
}