相关论文: A Real-time Spatio-Temporal Trajectory Planner for…

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…

To handle the two shortcomings of existing methods, (i)nearly all models rely on high-definition (HD) maps, yet the map information is not always available in real traffic scenes and HD map-building is expensive and time-consuming and (ii)…

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…

Autonomous driving technology is rapidly evolving and becoming a pivotal element of modern automation systems. Effective decision-making and planning are essential to ensuring autonomous vehicles operate safely and efficiently in complex…

Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…

This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…

In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

Travel time estimation is one of the core tasks for the development of intelligent transportation systems. Most previous works model the road segments or intersections separately by learning their spatio-temporal characteristics to estimate…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the…

Time-space diagrams are essential tools for analyzing traffic patterns and optimizing transportation infrastructure and traffic management strategies. Traditional data collection methods for these diagrams have limitations in terms of…

Testing and validating Autonomous Vehicle (AV) performance in safety-critical and diverse scenarios is crucial before real-world deployment. However, manually creating such scenarios in simulation remains a significant and time-consuming…

Urban spatio-temporal data present unique challenges for predictive analytics due to their dynamic and complex nature. We introduce STM-Graph, an open-source Python framework that transforms raw spatio-temporal urban event data into graph…

Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

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…

Long-term traffic prediction has always been a challenging task due to its dynamic temporal dependencies and complex spatial dependencies. In this paper, we propose a model that combines hybrid Transformer and spatio-temporal…

The actions of an autonomous vehicle on the road affect and are affected by those of other drivers, whether overtaking, negotiating a merge, or avoiding an accident. This mutual dependence, best captured by dynamic game theory, creates a…

Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in…