相关论文: IANN-MPPI: Interaction-Aware Neural Network-Enhanc…

The integration of large language models (LLMs) into intelligent tutoring systems offers transformative potential for personalized learning in higher education. However, most existing learning path planning approaches lack transparency,…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our…

We present the Model-Predictive Motion Planner (MPMP) of the Intelligent Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses a path planner to compute a path from its current position to the desired destination.…

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

The rise of vehicle automation has generated significant interest in the potential role of future automated vehicles (AVs). In particular, in highly dense traffic settings, AVs are expected to serve as congestion-dampeners, mitigating the…

Information gathering in large-scale or time-critical scenarios (e.g., environmental monitoring, search and rescue) requires broad coverage within limited time budgets, motivating the use of multi-agent systems. These scenarios are commonly…

Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…

Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…

We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Region sequences confine each agent to adjacent convex…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Robotic navigation in unknown, cluttered environments with limited sensing capabilities poses significant challenges in robotics. Local trajectory optimization methods, such as Model Predictive Path Intergal (MPPI), are a promising solution…

Autonomous vehicles (AVs) need to share the road with multiple, heterogeneous road users in a variety of driving scenarios. It is overwhelming and unnecessary to carefully interact with all observed agents, and AVs need to determine whether…

Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced…

Real-time traffic flow prediction can not only provide travelers with reliable traffic information so that it can save people's time, but also assist the traffic management agency to manage traffic system. It can greatly improve the…

Accurately controlling a robotic system in real time is a challenging problem. To address this, the robotics community has adopted various algorithms, such as Model Predictive Control (MPC) and Model Predictive Path Integral (MPPI) control.…

Adaptive informative path planning (AIPP) is important to many robotics applications, enabling mobile robots to efficiently collect useful data about initially unknown environments. In addition, learning-based methods are increasingly used…

The Iterative Forecast Planner (IFP) is a geometric planning approach that offers lightweight computations, scalable, and reactive solutions for multi-robot path planning in decentralized, communication-free settings. However, it struggles…

This paper introduces an AI-enabled, interaction-aware active safety analysis framework that accounts for groupwise vehicle interactions. Specifically, the framework employs a bicycle model-augmented with road gradient considerations-to…