相关论文: UniPlanner: A Unified Motion Planning Framework fo…

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…

The multi-modality and stochastic characteristics of human behavior make motion prediction a highly challenging task, which is critical for autonomous driving. While deep learning approaches have demonstrated their great potential in this…

This paper presents a hybrid motion planning strategy that combines a deep generative network with a conventional motion planning method. Existing planning methods such as A* and Hybrid A* are widely used in path planning tasks because of…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception…

Deep learning has revolutionized autonomous driving by enabling vehicles to perceive and interpret their surroundings with remarkable accuracy. This progress is attributed to various deep learning models, including Mediated Perception,…

In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…

Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes…

We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…

Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision…

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…

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,…

We present UrbanFly: an uncertainty-aware real-time planning framework for quadrotor navigation in urban high-rise environments. A core aspect of UrbanFly is its ability to robustly plan directly on the sparse point clouds generated by a…

Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and satellite imagery, underused because of heterogeneity, pose…

The availability of high-quality datasets is crucial for the development of behavior prediction algorithms in autonomous vehicles. This paper highlights the need to standardize the use of certain datasets for motion forecasting research to…

Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Automated driving functions increasingly rely on machine learning for tasks like perception and trajectory planning, requiring large, relevant datasets. The performance of these algorithms depends on how closely the training data matches…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large…