I. INTRODUCTION
Autonomous driving requires perception, localization, control and planning. Although there are currently many open-source resources available to researchers for perception, localization and control, there are few open-source planners that are general enough to be used directly, or which could be easily modified to suit a particular application. This is because planning is the core module that connects everything together and it is also application dependent. Planning is also one of the most difficult autonomous driving tasks, as it determines the vehicle’s actions, and the safety of the vehicle, its passengers and other road users depend on its correct operation.