相关论文: Path continuity for multi-wheeled AGVs

Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommodate two moving vehicles simultaneously due to the presence…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes…

Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…

The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…

This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its…

World model-based searching and planning are widely recognized as a promising path toward human-level physical intelligence. However, current driving world models primarily rely on video diffusion models, which specialize in visual…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…

In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…

Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…

In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…

Experimental studies on vehicular traffic provide data on quantities like density, flux, and mean speed of the vehicles. However, the diagrams relating these variables (the fundamental and speed diagrams) show some peculiarities not yet…

The Gipps car-following model is a widely used tool for studying and simulation traffic dynamics. Despite its popularity an often disregarded property is that under heterogeneous parametrization on the individual vehicles in the traffic…

Ramp metering, a traditional traffic control strategy for conventional vehicles, has been widely deployed around the world since the 1960s. On the other hand, the last decade has witnessed significant advances in connected and automated…