Related papers: HYPE: Hybrid Planning with Ego Proposal-Conditione…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
We study the problem of optimally routing plug-in electric and conventional fuel vehicles on a city level. In our model, commuters selfishly aim to minimize a local cost that combines travel time, from a fixed origin to a desired…
A crucial challenge to efficient and robust motion planning for autonomous vehicles is understanding the intentions of the surrounding agents. Ignoring the intentions of the other agents in dynamic environments can lead to risky or…
We present a novel method for handling uncertainty about the intentions of non-ego players in dynamic games, with application to motion planning for autonomous vehicles. Equilibria in these games explicitly account for interaction among…
Motion Planning under uncertainty is critical for safe self-driving. In this paper, we propose a unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle motion; and 2) prediction uncertainty of dynamic obstacles…
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…
Automated vehicles can gather information about surrounding traffic and plan safe and energy-efficient driving behavior, which is known as eco-driving. Conventional eco-driving designs only consider preceding vehicles in the same lane as…
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…
Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…
Automated parking stands as a highly anticipated application of autonomous driving technology. However, existing path planning methodologies fall short of addressing this need due to their incapability to handle the diverse and complex…
Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…
Predicting the future trajectory of agents from visual observations is an important problem for realization of safe and effective navigation of autonomous systems in dynamic environments. This paper focuses on two important aspects of…
In order to drive safely on the road, autonomous vehicle is expected to predict future outcomes of its surrounding environment and react properly. In fact, many researchers have been focused on solving behavioral prediction problems for…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A…
We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…
For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…
Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…