相关论文: Warm-Started Optimized Trajectory Planning for ASV…

In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…

Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…

Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…

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…

Optimizing the trajectories of multiple quadrotors in a shared space is a core challenge in various applications. Many existing trajectory optimization methods enforce constraints only at the discretization points, leading to violations…

Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…

This paper presents a novel self-supervised path-planning method for UAV-aided networks. First, we employed an optimizer to solve training examples offline and then used the resulting solutions as demonstrations from which the UAV can learn…

We propose a Path-Tracking Hybrid A* planner coupled with a hierarchical Model Predictive Control (MPC) framework for path smoothing in agricultural vehicles. The goal is to minimize deviation from reference paths during cross-furrow…

This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

Real-time kinodynamic trajectory planning in dynamic environments is critical yet challenging for autonomous driving. In this letter, we propose an efficient trajectory planning system for autonomous driving in complex dynamic scenarios…

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…

Many robots operating in unpredictable environments require an online path planning algorithm that can quickly compute high quality paths. Asymptotically optimal planners are capable of finding the optimal path, but can be slow to converge.…

We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…