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Path planning is critical for autonomous driving, generating smooth, collision-free, feasible paths based on perception and localization inputs. However, its computationally intensive nature poses significant challenges for…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of…
Trajectory optimization is a central component of fast and efficient autonomous racing. However practical optimization pipelines remain highly sensitive to initialization and may converge slowly or to suboptimal local solutions when seeded…
In this paper, we present a hierarchical framework for decision-making and planning on highway driving tasks. We utilized intelligent driving models (IDM and MOBIL) to generate long-term decisions based on the traffic situation flowing…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
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…
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming. Our approach can handle various tracking…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
The autonomous driving industry is expected to grow by over 20 times in the coming decade and, thus, motivate researchers to delve into it. The primary focus of their research is to ensure safety, comfort, and efficiency. An autonomous…
An active area of research is to increase the safety of self-driving vehicles. Although safety cannot be guarenteed completely, the capability of a vehicle to predict the future trajectories of its surrounding vehicles could help ensure…
This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student Germany (FSG) 2019 driverless competition, where it won 1st…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…
For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…
Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
This paper introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent…