相关论文: Mean Field Game-Based Interactive Trajectory Plann…

We consider a dynamic traffic routing game over an urban road network involving a large number of drivers in which each driver selecting a particular route is subject to a penalty that is affine in the logarithm of the number of drivers…

Simultaneous planning and control of a large variety of unmanned aerial vehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. A dense reference velocity field generated from the gradient of an HPF is used to regulate…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…

Iterative Proportional Fitting (IPF), combined with EM, is commonly used as an algorithm for likelihood maximization in undirected graphical models. In this paper, we present two iterative algorithms that generalize upon IPF. The first one…

Mean Field Game systems describe equilibrium configurations in differential games with infinitely many infinitesimal interacting agents. We introduce a learning procedure (similar to the Fictitious Play) for these games and show its…

Advanced persistent threats (APTs) are organized prolonged cyberattacks by sophisticated attackers. Although APT activities are stealthy, they interact with the system components and these interactions lead to information flows. Dynamic…

The recent emergence of navigational tools has changed traffic patterns and has now enabled new types of congestion-aware routing control like dynamic road pricing. Using the fundamental diagram of traffic flows - applied in macroscopic and…

In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this…

Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Even if path planning can be solved using standard techniques from dynamic programming and control, the problem can also be approached using probabilistic inference. The algorithms that emerge using the latter framework bear some appealing…

In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…

This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigation systems that has provable collision-free properties.…

Planning for autonomous driving in complex, urban scenarios requires accurate prediction of the trajectories of surrounding traffic participants. Their future behavior depends on their route intentions, the road-geometry, traffic rules and…

Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However, the safety of generated motions remains overlooked,…

An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles. A popular approach to collision avoidance in the face of moving obstacles is…

This paper proposes an Active Inference-based framework for autonomous trajectory design in UAV swarms. The method integrates probabilistic reasoning and self-learning to enable distributed mission allocation, route ordering, and motion…

This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…

Generating natural and physically plausible character motion remains challenging, particularly for long-horizon control with diverse guidance signals. While prior work combines high-level diffusion-based motion planners with low-level…