相关论文: Efficient Baselines for Motion Prediction in Auton…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

Motion forecasting is a crucial component of autonomous driving systems, enabling the generation of accurate and smooth future trajectories to ensure safe navigation to the destination. In previous methods, potential future trajectories are…

Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

In autonomous driving, accurately interpreting the movements of other road users and leveraging this knowledge to forecast future trajectories is crucial. This is typically achieved through the integration of map data and tracked…

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…

This paper tackles the problem of human motion prediction, consisting in forecasting future body poses from historically observed sequences. State-of-the-art approaches provide good results, however, they rely on deep learning architectures…

Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…

The prediction of road users' future motion is a critical task in supporting advanced driver-assistance systems (ADAS). It plays an even more crucial role for autonomous driving (AD) in enabling the planning and execution of safe driving…

Motion prediction systems aim to capture the future behavior of traffic scenarios enabling autonomous vehicles to perform safe and efficient planning. The evolution of these scenarios is highly uncertain and depends on the interactions of…

Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

Accurate traffic prediction plays a vital role in intelligent transportation systems by enabling efficient routing, congestion mitigation, and proactive traffic control. However, forecasting is challenging due to the combined effects of…

Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…