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van den Berg, Berend (author), Ferreira de Brito, B.F. (author), Alirezaei, Mohsen (author), Alonso-Mora, J. (author)The road's geometry strongly influences the path planner's performance, critical for autonomous navigation in high-speed dynamic scenarios (e.g., highways). Hence, this paper introduces the Curvature-aware Rapidly-exploring Random Trees (CA-CL-RRT), whose planning performance is invariant to the road's geometry. We propose a transformation...conference paper 2021