1 Subjects: “...spatial planning process...”

2 Subjects: “...predictable trajectory planning...”

3 Subjects: “...predictable trajectory planning...”

4 Subjects: “...predictable trajectory planning...”

5 Subjects: “...user-centric planning...”

6 Subjects: “...user-centric planning...”

7 Subjects: “...path planning...”

8 Subjects: “...urban planning...”

9 Subjects: “...path planning...”

10 Subjects: “...global optimal path planning...”

11 Subjects: “...physical planning...”

12 Subjects: “...network planning...”

13 Subjects: “...path planning...”

14 Subjects: “...path planning...”

15 Subjects: “...air quality plans...”