自动驾驶

Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions

Akshay Jaitly, Jon Arrizabalaga, Guanrui Li

机构 * Robotics Engineering Department, Worcester Polytechnic Institute（沃斯特理工学院机器人工程系） ； Robotics Institute at Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

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

SocialTraj: Two-Stage Socially-Aware Trajectory Prediction for Autonomous Driving via Conditional Diffusion Model

Xiao Zhou, Zengqi Peng, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

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

CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving

Ruiguo Zhong, Ruoyu Yao, Pei Liu, Xiaolong Chen, Rui Yang, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

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

SMART: Scalable Multi-Agent Reasoning and Trajectory Planning in Dense Environments

Heye Huang, Yibin Yang, Wang Chen, Tiantian Chen, Xiaopeng Li, Sikai Chen

机构 * Department of Civil and Environmental Engineering University of Wisconsin-Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动性学院） ； Department of Civil Engineering, The University of Hong Kong（香港大学土木工程系） 纠错

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

AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Driving

Yuechen Luo, Fang Li, Shaoqing Xu, Zhiyi Lai, Lei Yang, Qimao Chen, Ziang Luo, Zixun Xie, Shengyin Jiang, Jiaxin Liu, Long Chen, Bing Wang, Zhi-xin Yang

机构 * Tsinghua University（清华大学） ； Xiaomi EV（小米电动车） ； University of Macau（澳门大学） ； Nanyang Technological University（南洋理工大学） ； Peking University（北京大学） 纠错

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

Adaptive Motorized LiDAR Scanning Control for Robust Localization with OpenStreetMap

Jianping Li, Kaisong Zhu, Zhongyuan Liu, Rui Jin, Xinhang Xu, Pengfei Wan, Lihua Xie

专题命中 规划控制 ：LiDAR(title,abstract)；分类 cs.RO

Adaptive Evolution Factor Risk Ellipse Framework for Reliable and Safe Autonomous Driving

Fujiang Yuan, Zhen Tian, Yangfan He, Guojian Zou, Chunhong Yuan, Yanhong Peng, Zhihao Lin

机构 * College of Mechanical Engineering, Chongqing University of Technology（重庆理工大学机械工程学院） ； James Watt School of Engineering, University of Glasgow（格拉斯哥大学詹姆斯·瓦特工程学院） ； Computer science with the University of Minnesota - Twin Cities（明尼苏达大学双城分校计算机科学） ； College of Transportation Engineering, Tongji University（同济大学交通运输工程学院） ； Laboratory of Intelligent Home Appliances, College of Science and Technology, Ningbo University（宁波大学科技学院智能家电实验室） 纠错

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

Integration of Computer Vision with Adaptive Control for Autonomous Driving Using ADORE

Abu Shad Ahammed, Md Shahi Amran Hossain, Sayeri Mukherjee, Roman Obermaisser, Md. Ziaur Rahman

机构 * Chair of Embedded Systems University of Siegen（嵌入式系统系大学Siegen） 纠错

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

A Risk-aware Spatial-temporal Trajectory Planning Framework for Autonomous Vehicles Using QP-MPC and Dynamic Hazard Fields

Zhen Tian, Zhihao Lin, Dezong Zhao, Christos Anagnostopoulos, Qiyuan Wang, Wenjing Zhao, Xiaodan Wang, Chongfeng Wei

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

Vehicle-in-Virtual-Environment (VVE) Method for Developing and Evaluating VRU Safety of Connected and Autonomous Driving with Focus on Bicyclist Safety

Haochong Chen, Xincheng Cao, Bilin Aksun-Guvenc, Levent Guvenc

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

Enhanced Trust Region Sequential Convex Optimization for Multi-Drone Thermal Screening Trajectory Planning in Urban Environments

Kaiyuan Chen, Zhengjie Hu, Shaolin Zhang, Yuanqing Xia, Wannian Liang, Shuo Wang

机构 * Institute of Automation, Chinese Academy of Science, China（中国科学院自动化研究所） ； Beijing Institute of Technology, China（北京理工大学） ； Institute of Automation, Chinese Academy of Sciences, China（中国科学院自动化研究所） ； Tsinghua University, China（清华大学） 纠错

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

EvoPSF: Online Evolution of Autonomous Driving Models via Planning-State Feedback

Jiayue Jin, Lang Qian, Jingyu Zhang, Chuanyu Ju, Liang Song

机构 * College of Intelligent Robotics and Advanced Manufacturing, Fudan University（智能机器人与先进制造学院，复旦大学） 纠错

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

A CLIP-based Uncertainty Modal Modeling (UMM) Framework for Pedestrian Re-Identification in Autonomous Driving

Jialin Li, Shuqi Wu, Ning Wang

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

MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems

Rui Huang, Zhenyu Zhang, Siyu Tang, Zhiqian Cai, Lin Zhao

机构 * Department of Electrical and Computer Engineering, National University of Singapore（电子与计算机工程系，国立新加坡大学） ； Engineering Design and Innovation Centre, National University of Singapore（工程设计与创新中心，国立新加坡大学） 纠错

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

ESCoT: An Enhanced Step-based Coordinate Trajectory Planning Method for Multiple Car-like Robots

Junkai Jiang, Yihe Chen, Yibin Yang, Ruochen Li, Shaobing Xu, Jianqiang Wang

机构 * School of Vehicle and Mobility, Tsinghua University（车辆与移动系统学院，清华大学） 纠错

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

Collision-Free Trajectory Planning and control of Robotic Manipulator using Energy-Based Artificial Potential Field (E-APF)

Adeetya Uppal, Rakesh Kumar Sahoo, Manoranjan Sinha

机构 * Department of Aerospace Engineering（航空航天工程系） ； Indian Institute of Technology（印度理工学院） 纠错

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

H2C: Hippocampal Circuit-inspired Continual Learning for Lifelong Trajectory Prediction in Autonomous Driving

Yunlong Lin, Zirui Li, Guodong Du, Xiaocong Zhao, Cheng Gong, Xinwei Wang, Chao Lu, Jianwei Gong

机构 * School of Mechanical Engineering, Beijing Institute of Technology（北京理工大学机械工程学院） ； Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University（同济大学交通工程重点实验室） ； School of Engineering and Materials Science, Queen Mary University of London（伦敦大学Queen Mary工程与材料科学学院） 纠错

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

Comments Open source code: https://github.com/BIT-Jack/H2C-lifelong

Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Robotics

Hongyu Nie, Xu Liu, Zhaotong Tan, Sen Mei, Wenbo Su

机构 * School of Information Science and Engineering, Shenyang University of Technology（沈阳理工大学信息科学与工程学院） ； State Key Laboratory of Synthetic Automation for Process Industries, Northeastern University（东北大学过程工业综合自动化重点实验室） ； State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所机器人重点实验室） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

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

DeMo++: Motion Decoupling for Autonomous Driving

Bozhou Zhang, Nan Song, Xiatian Zhu, Li Zhang

机构 * School of Data Science, Fudan University（复旦大学数据科学学院） ； University of Surrey（萨里大学） 纠错

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

Comments Journal extension of NeurIPS 2024. arXiv admin note: substantial text overlap with arXiv:2410.05982

EqDrive: Efficient Equivariant Motion Forecasting with Multi-Modality for Autonomous Driving

Yuping Wang, Jier Chen

机构 * University of Michigan（密歇根大学） ； Shanghai Jiao Tong University（上海交通大学） 纠错

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

Comments 6 pages, 7 figures, Accepted 2024 International Conference on Robotics and Automation

MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control

Ruiyuan Gao, Kai Chen, Bo Xiao, Lanqing Hong, Zhenguo Li, Qiang Xu

机构 * CUHK（中文大学） ； HKUST（香港科技大学） ； Huawei Cloud（华为云） ； Huawei Noah’s Ark Lab（华为诺亚实验室） 纠错

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

Comments ICCV 2025 camera-ready version, Project Website: https://flymin.github.io/magicdrive-v2/

Towards a Safe Real-Time Motion Planning Framework for Autonomous Driving Systems: An MPPI Approach

Mehdi Testouri, Gamal Elghazaly, Raphael Frank

机构 * University of Luxembourg Interdisciplinary Centre for, Security, Reliability（卢森堡大学跨学科研究中心（安全、可靠性）） 纠错

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

Multi-Objective Trajectory Planning for a Robotic Arm in Curtain Wall Installation

Xiao Liu, Yunxiao Cheng, Weijun Wang, Tianlun Huang, Zhiyong Wang, Wei Feng

机构 * Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院） ； Shenzhen University of Advanced Technology and University of Chinese Academy of Sciences（深圳先进技术大学和中国科学院大学） 纠错

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

Trajectory Planning of a Curtain Wall Installation Robot Based on Biomimetic Mechanisms

Xiao Liu, Weijun Wang, Tianlun Huang, Zhiyong Wang, Wei Feng

机构 * Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（深圳先进技术研究院，中国科学院） 纠错

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

VLM-UDMC: VLM-Enhanced Unified Decision-Making and Motion Control for Urban Autonomous Driving

Haichao Liu, Haoren Guo, Pei Liu, Benshan Ma, Yuxiang Zhang, Jun Ma, Tong Heng Lee

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； National University of Singapore（新加坡国立大学） ； The Hong Kong University of Science and Technology（香港科学与技术大学） 纠错

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

Comments 14 pages, 12 figures

ReAL-AD: Towards Human-Like Reasoning in End-to-End Autonomous Driving

Yuhang Lu, Jiadong Tu, Yuexin Ma, Xinge Zhu

机构 * ShanghaiTech University（上海科技大学） ； The Chinese University of Hong Kong（香港中文大学） 纠错

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

Comments Accepted by ICCV2025

Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties

Zhenmin Huang, Yusen Xie, Benshan Ma, Shaojie Shen, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； The Hong Kong University of Science and Technology（香港科学与技术大学） ； HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute（香港科学与技术大学深圳-香港协同创新研究院） 纠错

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

IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving

Kanghyun Ryu, Minjun Sung, Piyush Gupta, Jovin D'sa, Faizan M. Tariq, David Isele, Sangjae Bae

机构 * HRI ； University of California Berkeley（加州大学伯克利分校） ； University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

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

Comments To be published in The IEEE International Conference on Intelligent Transportation Systems (ITSC) 2025

Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments

Bojan Derajić, Mohamed-Khalil Bouzidi, Sebastian Bernhard, Wolfgang Hönig

机构 * Continental Automotive Technologies GmbH, Germany（德国大陆汽车技术有限公司） ； Technical University of Berlin, Germany（柏林技术大学） ； Free University of Berlin, Germany（柏林自由大学） 纠错

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

RCG: Safety-Critical Scenario Generation for Robust Autonomous Driving via Real-World Crash Grounding

Benjamin Stoler, Juliet Yang, Jonathan Francis, Jean Oh

机构 * School of Computer Science at Carnegie Mellon University（卡内基梅隆大学计算机科学学院） ； Bosch Center for AI（博世人工智能中心） 纠错

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