search naive-bayes prediction motion-planning a-star finite-state-machine search-algorithm expansion prediction-model optimal-path cost-estimation cost-function process-models model-based frenet behavior-planning multimodal data-driven-model motion-planning-algorithms frenet-coordinate

c-plus-plus c-plus-plus-11 path-planning cpp11 self-driving-car trajectory-generation udacity-self-driving-car cost-estimation cost-function jerk-minimization behavior-planning