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The combination of the route and the path nodes define a path which determines where a vehicle should drive, but not when.
How the vehicle moves along the path over time is defined by the speed profile. The speed profile is the function of the vehicle speed over time v(t). When the speed profile is constructed and modified, it is done such that the given maximum speed, minimum speed and maximum acceleration are never exceeded.
Collision Test
TODO
Collision Avoidance
TODO
To be continued ...
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