相关论文: Interaction-Aware Vehicle Motion Planning with Col…

Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency.…

This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…

An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…

We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…

In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

In this paper, we propose a novel optimization-based trajectory planner that utilizes spherical harmonics to estimate the collision-free solution space around an agent. The space is estimated using a constrained over-determined…

We propose a new scheme to learn motion planning constraints from human driving trajectories. Behavioral and motion planning are the key components in an autonomous driving system. The behavioral planning is responsible for high-level…

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…

Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the…

A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…

This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…

This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…

Autonomous driving systems present promising methods for congestion mitigation in mixed autonomy traffic control settings. In particular, when coupled with even modest traffic state estimates, such systems can plan and coordinate the…

In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the…