自动驾驶

Trajectory Planning with Model Predictive Control for Obstacle Avoidance Considering Prediction Uncertainty

Eric Schöneberg, Michael Schröder, Daniel Görges, Hans D. Schotten

机构 * Institute of Electromobility, RPTU University Kaiserslautern-Landau（电磁移动研究所，科隆-兰道大学） ； Institute of Wireless Communications and Navigation, RPTU University Kaiserslautern-Landau（无线通信与导航研究所，科隆-兰道大学） 纠错

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND

DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving

Weiming Qu, Jiawei Du, Shenghai Yuan, Jia Wang, Yang Sun, Shengyi Liu, Yuanhao Zhu, Jianfeng Yu, Song Cao, Rui Xia, Xiaoyu Tang, Xihong Wu, Dingsheng Luo

机构 * National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology, Peking University（国家关键人工智能实验室、机器感知（MoE）重点实验室、智能科学与技术学院，北京大学） ； PKU-WUHAN Institute for Artificial Intelligence（北京大学-武汉人工智能研究院） ； School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； School of Instrument Science and Engineering, Southeast University（东南大学仪器科学与工程学院） ； China Automotive Innovation Corporation（中国汽车创新公司） 纠错

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

RiskNet: Interaction-Aware Risk Forecasting for Autonomous Driving in Long-Tail Scenarios

Qichao Liu, Heye Huang, Shiyue Zhao, Lei Shi, Soyoung Ahn, Xiaopeng Li

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments 24 pages, 14 figures

Differential Flatness-based Fast Trajectory Planning for Fixed-wing Unmanned Aerial Vehicles

Junzhi Li, Jingliang Sun, Teng Long, Zhenlin Zhou

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments Updated version with minor language and formatting edits. This version has been accepted for publication in IEEE Transactions on Systems, Man, and Cybernetics: Systems (06-Apr-2025). This is the author's version of the accepted manuscript. The final version will appear in the IEEE Xplore digital library

Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections

Di Chen, Ruiguo Zhong, Kehua Chen, Zhiwei Shang, Meixin Zhu, Edward Chung

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 11 figures, 5 tables, 15 pages

Maintaining driver attentiveness in shared-control autonomous driving

Radu Calinescu, Naif Alasmari, Mario Gleirscher

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments 7 pages, 6 figures

Journal ref 16th Int. Symp. on Software Engineering for Adaptive and Self-Managing Systems (SEAMS@ICSE), 2021

Planning with Adaptive World Models for Autonomous Driving

Arun Balajee Vasudevan, Neehar Peri, Jeff Schneider, Deva Ramanan

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments This project has been accepted to the International Conference on Robotics and Automation (ICRA) 2025. Project Page: https://arunbalajeev.github.io/world_models_planning/world_model_paper.html

Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization

Patrick Halder, Hannes Homburger, Lothar Kiltz, Johannes Reuter, Matthias Althoff

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 6+2 pages, 3 figures, P. Halder and H. Homburger contributed equally to the paper, accepted to the 2025 IEEE International Conference on Robotics & Automation (ICRA25)

Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems

Christopher R. Hayner, John M. Carson, Behçet Açıkmeşe, Karen Leung

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments This paper is accepted for the IEEE Robotics and Automation Letters (RA-L)

Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs

Tianxin Hu, Shenghai Yuan, Ruofei Bai, Xinghang Xu, Yuwen Liao, Fen Liu, Lihua Xie

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments Paper Accepted to ICRA 2025

Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations

Yue Yao, Shengchao Yan, Daniel Goehring, Wolfram Burgard, Joerg Reichardt

专题命中 规划控制 ：autonomous driving(title)；分类 cs.AI

Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving

Kento Kawaharazuka, Kei Tsuzuki, Shogo Makino, Moritaka Onitsuka, Koki Shinjo, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments Accepted at IROS2019

ITPNet: Towards Instantaneous Trajectory Prediction for Autonomous Driving

Rongqing Li, Changsheng Li, Yuhang Li, Hanjie Li, Yi Chen, Dongchun Ren, Ye Yuan, Guoren Wang

专题命中 规划控制 ：autonomous driving(title)；分类 cs.CV

Journal ref In Proceedings of the 30th ACM SIGKDD Conference on Knowledge Discovery and Data Mining (KDD 2024)

Towards Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems

Seth Siriya, Mo Chen, Ye Pu

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 18 pages, 7 figures, submitted to Transactions on Automatic Control

Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation

Muqing Cao, Xinhang Xu, Yizhuo Yang, Jianping Li, Tongxing Jin, Pengfei Wang, Tzu-Yi Hung, Guosheng Lin, Lihua Xie

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments submitted to ICRA 2025

Online Omnidirectional Jumping Trajectory Planning for Quadrupedal Robots on Uneven Terrains

Linzhu Yue, Zhitao Song, Jinhu Dong, Zhongyu Li, Hongbo Zhang, Lingwei Zhang, Xuanqi Zeng, Koushil Sreenath, Yun-hui Liu

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments Submitted to IJRR

Model Predictive Planning: Trajectory Planning in Obstruction-Dense Environments for Low-Agility Aircraft

Matthew T. Wallace, Brett Streetman, Laurent Lessard

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Limiting Computation Levels in Prioritized Trajectory Planning with Safety Guarantees

Jianye Xu, Patrick Scheffe, Bassam Alrifaee

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 8 pages, 4 figures. This is an extended abstract of our previous work published at the 2024 European Control Conference (ECC), June 25-28, 2024. Stockholm, Sweden

Human-Like Implicit Intention Expression for Autonomous Driving Motion Planning: A Method Based on Learning Human Intention Priors

Jiaqi Liu, Xiao Qi, Ying Ni, Jian Sun, Peng Hang

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Asynchronous Spatial-Temporal Allocation for Trajectory Planning of Heterogeneous Multi-Agent Systems

Yuda Chen, Haoze Dong, Zhongkui Li

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 8 pages

Beyond Shortsighted Navigation: Merging Best View Trajectory Planning with Robot Navigation

Srinath Tankasala, Roberto Martín-Martín, Mitch Pryor

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 7 pages, 8 figures, 5 tables

The Hybrid Extended Bicycle: A Simple Model for High Dynamic Vehicle Trajectory Planning

Agapius Bou Ghosn, Philip Polack, Arnaud de La Fortelle

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Efficient optimization-based trajectory planning

Jiayu Fan, Nikolce Murgovski, Jun Liang

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 14 pages,5 figures

Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction

Federica Storiale, Enrico Ferrentino, Federico Salvioli, Konstantinos Kapellos, Pasquale Chiacchio

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Hacking Predictors Means Hacking Cars: Using Sensitivity Analysis to Identify Trajectory Prediction Vulnerabilities for Autonomous Driving Security

Marsalis Gibson, David Babazadeh, Claire Tomlin, Shankar Sastry

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments 10 pages, 5 figures, 1 tables

Model Predictive Trajectory Planning for Human-Robot Handovers

Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi

专题命中 规划控制 ：trajectory planning(title)；分类 cs.RO

Comments 8 pages, 6 figures, Proceedings available under https://www.vdi-mechatroniktagung.rwth-aachen.de/global/show_document.asp?id=aaaaaaaacjcayqj&download=1

Journal ref Proceedings of the VDI Mechatroniktagung 2024, pp 65-72

Evaluating Pedestrian Trajectory Prediction Methods with Respect to Autonomous Driving

Nico Uhlemann, Felix Fent, Markus Lienkamp

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments Accepted in IEEE Transactions on Intelligent Transportation Systems (T-ITS); 11 pages, 6 figures, 4 tables

Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving

Matt Schmittle, Rohan Baijal, Brian Hou, Siddhartha Srinivasa, Byron Boots

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments

Haicheng Liao, Shangqian Liu, Yongkang Li, Zhenning Li, Chengyue Wang, Yunjian Li, Shengbo Eben Li, Chengzhong Xu

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving

Lei Zheng, Rui Yang, Zengqi Peng, Wei Yan, Michael Yu Wang, Jun Ma

专题命中 规划控制 ：autonomous driving(title)；分类 cs.RO

Comments 8 pages, 8 figures, accepted for publication in the 22nd European Control Conference (ECC 2024)