相关论文: Baidu Apollo EM Motion Planner

The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-making algorithm and an optimization-based trajectory…

We present a novel hybrid learning-assisted planning method, named HyPlan, for solving the collision-free navigation problem for self-driving cars in partially observable traffic environments. HyPlan combines methods for multi-agent…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an…

This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…

Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…

Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…

Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…

The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

In recent years, Large Language Models (LLMs) have demonstrated remarkable capabilities in understanding and solving mathematical problems, leading to advancements in various fields. We propose an LLM-embodied path planning framework for…

With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…

Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

In this paper, we propose an Openspace Collision-freE trAjectory plaNner (OCEAN) for autonomous parking. OCEAN is an optimization-based trajectory planner accelerated by Alternating Direction Method of Multiplier (ADMM) with enhanced…