相关论文: Potential Field-based Path Planning with Interacti…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
Gradient-based trajectory optimization with B-spline curves is widely used for unmanned aerial vehicles (UAVs) due to its fast convergence and continuous trajectory generation. However, the application of B-spline curves for path-velocity…
An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…
Path planning for autonomous driving with dynamic obstacles poses a challenge because it needs to perform a higher-dimensional search (with time-dimension) while still meeting real-time constraints. This paper proposes an algorithm-hardware…
We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…
Due to the rapid growth of data transmissions in internet of vehicles (IoV), finding schemes that can effectively alleviate access congestion has become an important issue. Recently, many traffic control schemes have been studied.…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…
Autonomous vehicles (AVs) need to reason about the multimodal behavior of neighboring agents while planning their own motion. Many existing trajectory planners seek a single trajectory that performs well under \emph{all} plausible futures…