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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…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision avoidance into a unified optimization framework. We first…
Autonomous Mobile Robots (AMRs) have become indispensable in industrial applications due to their operational flexibility and efficiency. Navigation serves as a crucial technical foundation for accomplishing complex tasks. However,…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Conflict-Free Vehicle Routing Problems (CF-VRPs) arise in manufacturing, transportation and logistics facilities where Automated Guided Vehicles (AGVs) are utilized to move loads. Unlike \textit{Vehicle Routing Problems} arising in…
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…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Motivated by the requirements for effectiveness and efficiency, path-speed decomposition-based trajectory planning methods have widely been adopted for autonomous driving applications. While a global route can be pre-computed offline,…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
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…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…