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For each vehicle a random route is selected. This route is dynamically extended as time progresses. The route is represented as a list of edge indices. Since every edge is part of a cycle, the route can be extended indefinitely.

Source: https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/VehicleTrajectoryPlanningState.cpp#L90cpp#L82

Speed Profile + Path => Trajectory

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