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

This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…

Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

The control of traffic signals is fundamental and critical to alleviate traffic congestion in urban areas. However, it is challenging since traffic dynamics are complicated in real-world scenarios. Because of the high complexity of the…

While supervised learning is widely used for perception modules in conventional autonomous driving solutions, scalability is hindered by the huge amount of data labeling needed. In contrast, while end-to-end architectures do not require…

Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…

Accurate and reliable motion forecasting is essential for the safe deployment of autonomous vehicles (AVs), particularly in rare but safety-critical scenarios known as corner cases. Existing models often underperform in these situations due…

Movement Primitives (MPs) are a well-known concept to represent and generate modular trajectories. MPs can be broadly categorized into two types: (a) dynamics-based approaches that generate smooth trajectories from any initial state, e. g.,…

Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion…

This paper proposes a probabilistic motion prediction method for long motions. The motion is predicted so that it accomplishes a task from the initial state observed in the given image. While our method evaluates the task achievability by…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

To safely and efficiently navigate through complex traffic scenarios, autonomous vehicles need to have the ability to predict the future motion of surrounding vehicles. Multiple interacting agents, the multi-modal nature of driver behavior,…

The problem of modeling and predicting spatiotemporal traffic phenomena over an urban road network is important to many traffic applications such as detecting and forecasting congestion hotspots. This paper presents a decentralized data…

In this paper, we present a semantic mapping approach with multiple hypothesis tracking for data association. As semantic information has the potential to overcome ambiguity in measurements and place recognition, it forms an eminent…

Accurate activity location prediction is a crucial component of many mobility applications and is particularly required to develop personalized, sustainable transportation systems. Despite the widespread adoption of deep learning models,…

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…

In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This paper introduces a novel methodology for trajectory…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Head-to-head racing against opponents is a challenging and emerging topic in the domain of autonomous racing. We propose Predictive Spliner, a data-driven overtaking planner that learns the behavior of opponents through Gaussian Process…

Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…