自动驾驶

How Roadside Units Enhance Intersection Safety? Cooperative Autonomous Driving System Design and A Proof of Concept

路侧单元如何提升交叉口安全性？协作自动驾驶系统设计与概念验证

Taoyuan Yu, Kui Wang, Zongdian Li, Tao Yu, Walid Saad, Kei Sakaguchi

专题命中 规划控制 ：autonomous driving(title)

AI总结 本文提出基于RSU的V2I2V协作自动驾驶系统，结合全局与局部DT及HRL框架，经仿真与PoC试验验证，可提升智能交叉口的安全性与交通效率。

Neural operator learning for collision-aware trajectory planning of spacecraft swarms

面向航天器集群碰撞感知轨迹规划的神经算子学习

Sidhdharth D. Sikka, Suyi Gao, Zehui Lu, Rongjie Lai, Shaoshuai Mou

机构 * Purdue University（普渡大学） ； Manifold Research Group（流形研究组） 纠错

专题命中 规划控制 ：trajectory planning(title)

AI总结 该研究提出排列等变神经算子，结合自监督物理目标与对抗威胁训练，实现航天器集群轨迹规划，可零样本泛化到大规模集群，精度接近最优控制求解器，性能优于无碎片感知基线。

Comments 27 pages, 6 figures, 6 tables. Submitted to Nature Machine Intelligence. Video abstract included as ancillary file

Reference-Free, Long-Horizon Trajectory Optimization for Aggressive Autonomous Driving in Milliseconds

无参考、长时域、毫秒级激进自动驾驶轨迹优化

Prayag Sharma, Jonathan Y. M. Goh, Franck Djeumou

专题命中 规划控制 ：autonomous driving(title)

AI总结 针对无参考初始猜测下长时域轨迹优化实时性差的问题，提出基于车辆刚度分析选择A稳定积分方法、动态平衡初始猜测生成及鲁棒非线性求解器策略，在260米时域内实现55毫秒求解，支持高速漂移避障。

Design and Implementation of Ecological Adaptive Cruise Control for Autonomous Driving with Communication to Traffic Lights

基于交通信号的生态自适应巡航控制系统设计与实现

Sangjae Bae, Yeojun Kim, Jacopo Guanetti, Francesco Borrelli, Scott Moura

专题命中 规划控制 ：autonomous driving(title)

AI总结 本文提出了一种利用驾驶自动化和联网技术的生态自适应巡航控制系统（ECO-ACC），通过利用交通信号的历史和实时相位及定时数据来减少联网自动化车辆的能耗，同时避免前方碰撞和交通信号违规。

Comments Submitted to 2019 American Control Conference

Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles

轨迹规划的微分几何方法：自主水下车辆团队的协同运输

Hadi Hajieghrary, Dhanushka Kularatne, M. Ani Hsieh

专题命中 规划控制 ：trajectory planning(title)

AI总结 本文提出利用微分几何方法解决自主水下车辆团队协同运输问题，通过分解子问题设计分布式反馈控制策略，实现负载沿期望轨迹运输。

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning

规划，快速与缓慢：一种自适应实时安全轨迹规划的框架

David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac, Sampada Deglurkar, Claire J. Tomlin

专题命中 规划控制 ：trajectory planning(title)

AI总结 本文提出一种自适应实时安全轨迹规划框架，通过元规划实现不同在线规划器的安全切换，以应对未知环境和障碍物。

Comments ICRA, International Conference on Robotics and Automation, ICRA 2018, 8 pages, 9 figures

Cooperative ISAC for LAE: Joint Trajectory Planning, Power allocation, and Dynamic Time Division

协同ISAC用于LAE：联合轨迹规划、功率分配和动态时分

Fangzhi Li, Zhichu Ren, Cunhua Pan, Hong Ren, Jing Jin, Qixing Wang, Jiangzhou Wang

专题命中 规划控制 ：trajectory planning(title)

AI总结 本文提出了一种多无人机系统的集成感知与通信框架，通过动态时分策略优化轨迹、功率分配和时间分隔比，以提高空中-地面网络性能。

Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees

基于平坦性的四旋翼轨迹规划与跟踪及连续时间安全保证

Victor Freire, Xiangru Xu

专题命中 规划控制 ：trajectory planning(title)

AI总结 本文提出了一种凸优化框架，用于四旋翼轨迹规划与跟踪，通过B样条基函数和四旋翼的微分平坦性，构建二次锥规划以生成满足连续时间安全约束的最优轨迹，并通过二次规划保证轨迹跟踪的连续时间有界性。

Comments 16 pages, 13 figures

Safety-Aware AoI Scheduling for LEO Satellite-Assisted Autonomous Driving

安全意识的LEO卫星辅助自动驾驶AOI调度

Kangkang Sun, Junyi He, Juntong Liu, Xiuzhen Chen, Jianhua Li, Minyi Guo

专题命中 规划控制 ：autonomous driving(title)

AI总结 本文提出一种统一框架，结合双时间尺度AOI模型与分层时间平均安全约束，通过虚拟队列实现安全验证，解决LEO卫星与车辆运动导致的多普勒效应、子槽切换故障及不同优先级车辆的异构新鲜度需求问题。

Comments 15 pages, 7 figures, has been submitted to IEEE Internet of Journal for possible publication

Dynamic Risk Generation for Autonomous Driving: Naturalistic Reconstruction of Vehicle-E-Scooter Interactions

自动驾驶中的动态风险生成：车辆与电动滑板车交互的自然主义重建

Abin Mathew, Zhitong He, Lingxi Li, Yaobin Chen

专题命中 规划控制 ：autonomous driving(title)

AI总结 本文提出利用道路交通数据生成可配置的合成交互，以验证车辆运动规划算法，通过社会力模型模拟电动滑板车动态行为，测试碰撞避让系统功能，通过实况案例验证了模拟器的实用性与有效性。

An HMDP-MPC Decision-making Framework with Adaptive Safety Margins and Hysteresis for Autonomous Driving

具有自适应安全边际和滞回机制的HMDP-MPC决策框架用于自动驾驶

Siyuan Li, Chengyuan Liu, Wen-Hua Chen

专题命中 规划控制 ：autonomous driving(title)

AI总结 本文提出一种整合混合马尔可夫决策过程与模型预测控制的决策框架，结合速度依赖的安全边际和预测感知的滞回机制，通过双层恢复方案提升决策连续性与鲁棒性，经多场景测试验证其在异构交通中的适应性与安全性。

Comments 8 pages, 6 figures, to be published in ICRA 2026 proceedings

Handover-Aware URLLC UAV Trajectory Planning: A Continuous-Time Trajectory Optimization via Graphs of Convex Sets

Yuqi Ping, Tingting Zhang, Tianhao Liang

专题命中 规划控制 ：trajectory planning(title)

Comments submited to IEEE International Conference on Communications

Joint UAV Trajectory Planning and LEO Satellite Selection for Data Offloading in Space-Air-Ground Integrated Networks

Boran Wang, Ziye Jia, Can Cui, Qihui Wu

专题命中 规划控制 ：trajectory planning(title)

Risk Assessment and Threat Modeling for safe autonomous driving technology

Ian Alexis Wong Paz, Anuvinda Balan, Sebastian Campos, Ehud Orenstain, Sudip Dhakal

专题命中 规划控制 ：autonomous driving(title)

Conformal Slit Mapping Based Spiral Tool Trajectory Planning for Ball-end Milling on Complex Freeform Surfaces

Changqing Shen, BingZhou Xu, Xiaojian Zhang, Sijie Yan, Han Ding

专题命中 规划控制 ：trajectory planning(title)

Comments The revised manuscript has improved the quality of the figures

Vehicle Routing Problems in the Age of Semi-Autonomous Driving

Hins Hu, Samitha Samaranayake

专题命中 规划控制 ：autonomous driving(title)

AutoSciLab: A Self-Driving Laboratory For Interpretable Scientific Discovery

Saaketh Desai, Sadhvikas Addamane, Jeffrey Y. Tsao, Igal Brener, Laura P. Swiler, Remi Dingreville, Prasad P. Iyer

专题命中 规划控制 ：self-driving(title)

Comments Pre-print for paper accepted in AAAI

Multi-UAV Enabled MEC Networks: Optimizing Delay through Intelligent 3D Trajectory Planning and Resource Allocation

Zhiying Wang, Tianxi Wei, Gang Sun, Xinyue Liu, Hongfang Yu, Dusit Niyato

专题命中 规划控制 ：trajectory planning(title)

Vehicular Resilient Control Strategy for a Platoon of Self-Driving Vehicles under DoS Attack

Hassan Mokari, Yufei Tang

专题命中 规划控制 ：self-driving(title)

Comments 9 pages

On the Interplay between Self-Driving Cars and Public Transportation

Nicolas Lanzetti, Maximilian Schiffer, Michael Ostrovsky, Marco Pavone

专题命中 规划控制 ：self-driving(title)

Comments Accepted for publication in the IEEE Transactions on Control of Network Systems

Autonomous driving of trucks in off-road environment

Kenny A. Q. Caldas, Filipe M. Barbosa, Junior A. R. Silva, Tiago C. Santos, Iago P. Gomes, Luis A. Rosero, Denis F. Wolf, Valdir Grassi

专题命中 规划控制 ：autonomous driving(title)

Comments Paper accepted at Journal of Control, Automation and Electrical Systems

Journal ref Journal of Control, Automation and Electrical Systems, volume 34, pages 1179-1193 (2023)

Safe and Human-Like Autonomous Driving: A Predictor-Corrector Potential Game Approach

Mushuang Liu, H. Eric Tseng, Dimitar Filev, Anouck Girard, Ilya Kolmanovsky

专题命中 规划控制 ：autonomous driving(title)

Using Knowledge Awareness to improve Safety of Autonomous Driving

Andrea Calvagna, Arabinda Ghosh, Sadegh Soudjani

专题命中 规划控制 ：autonomous driving(title)

A Review of Tracking, Prediction and Decision Making Methods for Autonomous Driving

Florin Leon, Marius Gavrilescu

专题命中 规划控制 ：autonomous driving(title)

Comments 36 pages, 11 figures

Journal ref Mathematics, vol. 9, no. 6, article number 660, 37 pag., 2021

Learning MPC for Interaction-Aware Autonomous Driving: A Game-Theoretic Approach

Brecht Evens, Mathijs Schuurmans, Panagiotis Patrinos

专题命中 规划控制 ：autonomous driving(title)

Comments Accepted at 20th European Control Conference (ECC22); extended version

Journal ref 20th European Control Conference (ECC 2022)

Navigating in the Dark -- Designing Autonomous Driving Features to Assist Old Adults with Visual Impairments

Lashawnda Bynum, Jay Parker, Kristy Lee, Nia Nitschke, Melanie LaFlam, Jennifer Marcussen, Jana Taleb, Aleyna Dogan, Lisa J. Molnar, Feng Zhou

专题命中 规划控制 ：autonomous driving(title)

Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-free Traffic with Vehicle Nudging

Venkata Karteek Yanumula, Panagiotis Typaldos, Dimitrios Troullinos, Milad Malekzadeh, Ioannis Papamichail, Markos Papageorgiou

专题命中 规划控制 ：trajectory planning(title)

Managing Sets of Flying Base Stations Using Energy Efficient 3D Trajectory Planning in Cellular Networks

Mohammad Javad Sobouti, Amir Hossein Mohajerzadeh, Seyed Amin Hosseini Seno, Halim Yanikomeroglu

专题命中 规划控制 ：trajectory planning(title)

Comments This paper is a draft of a submitted paper to the IEEE Sensors journal

A Safe Control Architecture Based on Robust Model Predictive Control for Autonomous Driving

Maryam Nezami, Ngoc Thinh Nguyen, Georg Männel, Hossam Seddik Abbas, Georg Schildbach

专题命中 规划控制 ：autonomous driving(title)

Control of site occupancy by variation of the Zn and Al content in NiZnAl ferrite epitaxial films with low magnetic damping

Julia Lumetzberger, Verena Ney, Anna Zhakarova, Daniel Primetzhofer, Kilian Lenz, Andreas Ney

专题命中 规划控制 ：occupancy(title)

Comments 13 pages, 7 figures