相关论文: KI-PMF: Knowledge Integrated Plausible Motion Fore…

Planning for autonomous driving in complex, urban scenarios requires accurate prediction of the trajectories of surrounding traffic participants. Their future behavior depends on their route intentions, the road-geometry, traffic rules and…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

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…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

We present a methodology of cooperative driving in vehicular traffic, in which for short-time traffic prediction rather than one of the statistical approaches of artificial intelligence (AI), we follow a qualitative different microscopic…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is essential for driving safety. Although…

Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their…

Autonomous driving technology has rapidly evolved over the past decade, offering significant improvements in transportation efficiency, safety, and cost reduction. While much of the progress has focused on highway driving and obstacle…

Accurately forecasting the future movements of surrounding vehicles is essential for safe and efficient operations of autonomous driving cars. This task is difficult because a vehicle's moving trajectory is greatly determined by its…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…

Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…