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Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…

Deep learning-based methods are growing prominence for planning purposes. In this paper, we present a hybrid planner that combines a graph machine learning model and an optimal solver based on branch and bound tree search for path-planning…

This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…

This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…

The traditional Capacitated Vehicle Routing Problem (CVRP) minimizes the total distance of the routes under the capacity constraints of the vehicles. But more often, the objective involves multiple criteria including not only the total…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

We investigate a learning decision support system for vehicle routing, where the routing engine learns implicit preferences that human planners have when manually creating route plans (or routings). The goal is to use these learned…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…

Agent behavior is arguably the greatest source of uncertainty in trajectory planning for autonomous vehicles. This problem has motivated significant amounts of work in the behavior prediction community on learning rich distributions of the…

Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…

The past few years have witnessed a rapid growth of the deployment of automated vehicles (AVs). Clearly, AVs and human-driven vehicles (HVs) will co-exist for many years, and AVs will have to operate around HVs, pedestrians, cyclists, and…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…

This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…

Trajectory planning for automated vehicles commonly employs optimization over a moving horizon - Model Predictive Control - where the cost function critically influences the resulting driving style. However, finding a suitable cost function…

Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…

We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…