相关论文: Systematic Constraint Formulation and Collision-Fr…

In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…

There have been many works that focus on the sampling set design for a static graph signal, but few for time-varying graph signals (GS). In this paper, we concentrate on how to select vertices to sample and how to allocate the sampling…

In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…

Global constraints proved themselves to be an efficient tool for modelling and solving large-scale real-life combinatorial problems. They encapsulate a set of binary constraints and using global reasoning about this set they filter the…

Spatio-temporal traffic prediction is crucial in intelligent transportation systems. The key challenge of accurate prediction is how to model the complex spatio-temporal dependencies and adapt to the inherent dynamics in data. Traditional…

Traffic forecasting is important in intelligent transportation systems of webs and beneficial to traffic safety, yet is very challenging because of the complex and dynamic spatio-temporal dependencies in real-world traffic systems. Prior…

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…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

Coordination of dynamical routes can alleviate traffic congestion and is essential for the coming era of autonomous self-driving cars. However, dynamical route coordination is difficult and many existing routing protocols are either static…

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…

One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…

Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…

Trajectory prediction has always been a challenging problem for autonomous driving, since it needs to infer the latent intention from the behaviors and interactions from traffic participants. This problem is intrinsically hard, because each…

In the racetrack acceleration model, proposed by Martin Gardner in 1973, each step consists of changing the position of the vehicle by a vector in $\mathbb{Z}^2$, with the constraints that two consecutive vectors differ by at most one unit…

This paper presents a numerical algorithm for computing 6-degree-of-freedom free-final-time powered descent guidance trajectories. The trajectory generation problem is formulated using a unit dual quaternion representation of the rigid body…

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…

Traffic forecasting is essential to intelligent transportation systems, which is challenging due to the complicated spatial and temporal dependencies within a road network. Existing works usually learn spatial and temporal dependencies…

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…

We introduce a compressed data structure for the storage of free trajectories of moving objects (such as ships and planes) that efficiently supports various spatio-temporal queries. Our structure, dubbed GraCT, stores the absolute positions…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…