URL https://www.researchgate.net/publication/365486201/figure/fig2/AS:11431281097949218@1668741246105/LeftThe-two-stage-time-optimal-planning-framework-Right-The-illustration-of-cost_Q320.jpg
URL2 https://www.researchgate.net/figure/LeftThe-two-stage-time-optimal-planning-framework-Right-The-illustration-of-cost_fig2_365486201
