相关论文: Integrating Planning and Predictive Control Using …

Predicting multiple trajectories for road users is important for automated driving systems: ego-vehicle motion planning indeed requires a clear view of the possible motions of the surrounding agents. However, the generative models used for…

Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approaches are often computationally intensive or overly…

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes…

Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Model predictive control (MPC) has become the de facto standard action space for local planning and learning-based control in many continuous robotic control tasks, including autonomous driving. MPC solves a long-horizon cost optimization…

In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…

Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…

Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…

This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…

This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…

Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper proposes a learning-enabled framework for safety-critical…

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…

Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…