相关论文: Path planning for autonomous vehicles with minimal…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

Recent advances in combining deep learning and Reinforcement Learning have shown a promising path for designing new control agents that can learn optimal policies for challenging control tasks. These new methods address the main limitations…

Safety-critical corner cases, difficult to collect in the real world, are crucial for evaluating end-to-end autonomous driving. Adversarial interaction is an effective method to generate such safety-critical corner cases. While existing…

In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…

Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…

Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like…

With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…

Autonomous driving has gained significant advancements in recent years. However, obtaining a robust control policy for driving remains challenging as it requires training data from a variety of scenarios, including rare situations (e.g.,…

This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…

Compliance with traffic laws is a fundamental requirement for human drivers on the road, and autonomous vehicles must adhere to traffic laws as well. However, current autonomous vehicles prioritize safety and collision avoidance primarily…