  Motion planning involves decision making among combinatorial maneuver
variants in urban driving. A planner must consider uncertainties and associated
risks of the maneuver variants, and subsequently select a maneuver alternative.
In this paper we present a planning approach that considers the uncertainties
in the prediction and, in case of high uncertainty, postpones the combinatorial
decision making to a later time within the planning horizon. With our proposed
approach, safe but at the same time not overconservative motion is planned.

Robotics