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Andersen, Hans (author), Alonso-Mora, J. (author), Eng, You Hong (author), Rus, Daniela (author), Ang, Marcelo H. (author)In this paper we present a trajectory generation method for autonomous overtaking of unexpected obstacles in a dynamic urban environment. In these settings, blind spots can arise from perception limitations. For example when overtaking unexpected objects on the vehicle's ego lane on a two-way street. In this case, a human driver would first make...journal article 2020