相关论文: Multi-modal Transformer Path Prediction for Autono…

Predicting vehicle trajectories plays an important role in autonomous driving and ITS applications. Although multiple deep learning algorithms are devised to predict vehicle trajectories, their reliant on specific graph structure (e.g.,…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…

This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…

Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal performance, and ability…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

Multi-Agent Path Finding (MAPF) deals with finding conflict-free paths for a set of agents from an initial configuration to a given target configuration. The Lifelong MAPF (LMAPF) problem is a well-studied online version of MAPF in which an…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

To plan safe and comfortable trajectories for automated vehicles on highways, accurate predictions of traffic situations are needed. So far, a lot of research effort has been spent on detecting lane change maneuvers rather than on…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

Traffic forecasting is a complex multivariate time-series regression task of paramount importance for traffic management and planning. However, existing approaches often struggle to model complex multi-range dependencies using local…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

Large Language Models (LLMs) have achieved impressive performance across diverse tasks but continue to struggle with learning transitive relations, a cornerstone for complex planning. To address this issue, we investigate the Multi-Token…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…

Human intention prediction provides an augmented solution for the design of assistants and collaboration between the human driver and intelligent vehicles. In this study, a multi-task sequential learning framework is developed to predict…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception…

To enable autonomous vehicles to perform discretionary lane change amidst the random traffic flow on highways, this paper introduces a decision-making and control method for vehicle lane change based on Model Predictive Control (MPC). This…

Traffic forecasting is crucial for intelligent transportation systems (ITS), aiding in efficient resource allocation and effective traffic control. However, its effectiveness often relies heavily on abundant traffic data, while many cities…