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Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

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…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

This paper presents a learning from demonstration approach to programming safe, autonomous behaviors for uncommon driving scenarios. Simulation is used to re-create a targeted driving situation, one containing a road-side hazard creating a…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

ML-based motion planning is a promising approach to produce agents that exhibit complex behaviors, and automatically adapt to novel environments. In the context of autonomous driving, it is common to treat all available training data…

Driving behavior modeling is of great importance for designing safe, smart, and personalized autonomous driving systems. In this paper, an internal reward function-based driving model that emulates the human's decision-making mechanism is…

Applying reinforcement learning to autonomous driving entails particular challenges, primarily due to dynamically changing traffic flows. To address such challenges, it is necessary to quickly determine response strategies to the changing…

Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion planning (MoP) challenges in autonomous driving (AD). Despite…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…