自动驾驶

LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture

Kazuki Atsuta, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

机构 * Department of Mechanical Systems Engineering（机械系统工程系） ； Nagoya University（名古屋大学） 纠错

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

Comments 8 pages, 8 figures

Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking

Hossein B. Jond, Logan Beaver, Martin Jiroušek, Naiemeh Ahmadlou, Veli Bakırcıoğlu, Martin Saska

机构 * Department of Cybernetics, Czech Technical University in Prague（捷克技术大学布拉格分校自动化系） ； Mechanical and Aerospace Engineering, Old Dominion University（旧 Dominion 大学机械与航空航天工程系） ； Mechanical Engineering Faculty, Sahand University of Technology（沙赫德大学机械工程系） ； Aksaray University（阿克萨雷大学） 纠错

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

Comments Accepted for Journal of the Franklin Institute

DRARL: Disengagement-Reason-Augmented Reinforcement Learning for Efficient Improvement of Autonomous Driving Policy

Weitao Zhou, Bo Zhang, Zhong Cao, Xiang Li, Qian Cheng, Chunyang Liu, Yaqin Zhang, Diange Yang

机构 * School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动学院） ； Didi Global（滴滴出行） ； Department of Civil and Environmental Engineering, University of Michigan（密歇根大学土木与环境工程系） ； Lab for High Technology, Tsinghua University（清华大学高科技实验室） ； Institute for AI Industry Research, Tsinghua University（清华大学人工智能产业研究院） 纠错

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

Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections

Yiou Huang

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

A Physics-informed End-to-End Occupancy Framework for Motion Planning of Autonomous Vehicles

Shuqi Shen, Junjie Yang, Hongliang Lu, Hui Zhong, Qiming Zhang, Xinhu Zheng

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） 纠错

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

Online Performance Assessment of Multi-Source-Localization for Autonomous Driving Systems Using Subjective Logic

Stefan Orf, Sven Ochs, Marc René Zofka, J. Marius Zöllner

机构 * FZI Research Center for Information Technology（FZI信息技术研究中心） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） 纠错

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

Comments submitted to IEEE IAVVC 2025

Optimization-Based Trajectory Planning for Tractor-Trailer Vehicles on Curvy Roads: A Progressively Increasing Sampling Number Method

Zehao Wang, Han Zhang, Jingchuan Wang, Weidong Chen

机构 * Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University（自动化系、医疗机器人研究所、上海交通大学） ； Key Laboratory of System Control and Information Processing, Ministry of Education of China（系统控制与信息处理重点实验室、中华人民共和国教育部） ； Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai（智能控制与管理上海工程研究中心） 纠错

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

HCRMP: A LLM-Hinted Contextual Reinforcement Learning Framework for Autonomous Driving

Zhiwen Chen, Bo Leng, Zhuoren Li, Hanming Deng, Guizhe Jin, Ran Yu, Huanxi Wen

机构 * Tongji University（同济大学） ； SenseTime Research（商汤科技研究院） 纠错

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

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer

Kang Ding, Chunxuan Jiao, Yunze Hu, Kangjie Zhou, Pengying Wu, Yao Mu, Chang Liu

机构 * Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University（先进制造与机器人系，工程学院，北京大学） ； Department of Computer Science, The University of Hong Kong（计算机科学系，香港大学） 纠错

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

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

Yunsheng Ma, Burhaneddin Yaman, Xin Ye, Mahmut Yurt, Jingru Luo, Abhirup Mallik, Ziran Wang, Liu Ren

机构 * Bosch Research North America & Bosch Center for Artificial Intelligence (BCAI)（博世北美研究部及博世人工智能中心） ； Purdue University（普渡大学） 纠错

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

Comments 10 pages

Reachable Sets-based Trajectory Planning Combining Reinforcement Learning and iLQR

Wenjie Huang, Yang Li, Shijie Yuan, Jingjia Teng, Hongmao Qin, Yougang Bian

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

Comments We sincerely request the withdrawal of this paper. After further research and review, we have found that certain parts of the content contain uncertainties and are not sufficient to support the conclusions previously drawn. To avoid any potential misunderstanding or misguidance to the research community, we have decided to voluntarily withdraw the manuscript

MiniDrive: More Efficient Vision-Language Models with Multi-Level 2D Features as Text Tokens for Autonomous Driving

Enming Zhang, Xingyuan Dai, Min Huang, Yisheng Lv, Qinghai Miao

机构 * School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） 纠错

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

REACT: Runtime-Enabled Active Collision-avoidance Technique for Autonomous Driving

Heye Huang, Hao Cheng, Zhiyuan Zhou, Zijin Wang, Qichao Liu, Xiaopeng Li

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

Comments 22 pages, 11 figures

Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms

Yuankai Zhu, Stavros Vougioukas

机构 * Department of Mechanical & Aerospace Engineering University of California, Davis（机械与航空航天工程系加州大学戴维斯分校） ； Department of Biological and Agricultural Engineering University of California, Davis（生物与农业工程系加州大学戴维斯分校） 纠错

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

Comments This work will be submitted to the IEEE for possible publication

MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm

Yunwoo Lee, Jungwon Park

机构 * AI Institute of Seoul National University（首尔国立大学人工智能研究所） ； Carnegie Mellon University（卡内基梅隆大学） ； Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH)（首尔科学技术大学机械系统设计工程系） 纠错

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

Comments 13 pages, 11 figures

Towards Human-Centric Autonomous Driving: A Fast-Slow Architecture Integrating Large Language Model Guidance with Reinforcement Learning

Chengkai Xu, Jiaqi Liu, Yicheng Guo, Yuhang Zhang, Peng Hang, Jian Sun

机构 * College of Transportation, Tongji University（同济大学交通学院） 纠错

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

Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications

Francesco Prignoli, Ying Shuai Quan, Mohammad Jeddi, Jonas Sjöberg, Paolo Falcone

机构 * Mechatronics group at the Department of Electrical Engineering, Chalmers University of Technology（楚克大学电气工程系机电组） ； Dept. of Electrical and Information Engineering, Italian National Ph.D. DAUSY, Polytechnic of Bari（意大利国家博士项目DAUSY巴里理工学院电子与信息工程系） 纠错

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

Comments 7 pages, 5 figures, submitted to 64th IEEE Conference on Decision and Control. arXiv admin note: text overlap with arXiv:2503.15373

Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars

Eric Squires, Phillip Odom, Zsolt Kira

机构 * Georgia Tech Research Institute（佐治亚理工学院研究 institute） ； College of Computing at the Georgia Institute of Technology（佐治亚理工学院计算机学院） 纠错

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

Comments This work has been submitted to the IEEE for possible publication

Don't Shake the Wheel: Momentum-Aware Planning in End-to-End Autonomous Driving

Ziying Song, Caiyan Jia, Lin Liu, Hongyu Pan, Yongchang Zhang, Junming Wang, Xingyu Zhang, Shaoqing Xu, Lei Yang, Yadan Luo

机构 * School of Computer Science and Technology, Beijing Jiaotong University（计算机科学与技术学院，北京交通大学） ； Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence（北京交通数据挖掘与具身智能重点实验室） ； Horizon Robotics ； University of Macau（澳门大学） ； THU（清华大学） ； The University of Queensland（昆士兰大学） ； HKU（香港大学） 纠错

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

Comments 16 pages, 8 figures

LiDAR-Inertial SLAM-Based Navigation and Safety-Oriented AI-Driven Control System for Skid-Steer Robots

Mehdi Heydari Shahna, Eemil Haaparanta, Pauli Mustalahti, Jouni Mattila

机构 * Faculty of Engineering and Natural Sciences, Tampere University（工程与自然科学学院，塔尔库大学） 纠错

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

Comments This paper has been submitted in the IEEE CDC 2025 for potential presentation

Trajectory Planning and Control for Robotic Magnetic Manipulation

Ogulcan Isitman, Gokhan Alcan, Ville Kyrki

机构 * Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University（电气工程与自动化系，电气工程学院，阿alto大学） ； Faculty of Engineering and Natural Sciences, Automation Technology and Mechanical Engineering, Tampere University（工程与自然科学学院，自动化技术与机械工程，塔尔基大学） 纠错

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

Comments 8 pages, 6 figures

STCOcc: Sparse Spatial-Temporal Cascade Renovation for 3D Occupancy and Scene Flow Prediction

Zhimin Liao, Ping Wei, Shuaijia Chen, Haoxuan Wang, Ziyang Ren

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence（人机混合增强智能国家实验室） ； Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（人工智能与机器人学院，西安交通大学） 纠错

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

PreGSU-A Generalized Traffic Scene Understanding Model for Autonomous Driving based on Pre-trained Graph Attention Network

Yuning Wang, Zhiyuan Liu, Haotian Lin, Junkai Jiang, Shaobing Xu, Jianqiang Wang

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

Comments 14 pages

Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving

Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler

机构 * Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室、加州理工学院） ； University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Georgia Institute of Technology（佐治亚理工学院） 纠错

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

GripMap: An Efficient, Spatially Resolved Constraint Framework for Offline and Online Trajectory Planning in Autonomous Racing

Frederik Werner, Ann-Kathrin Schwehn, Markus Lienkamp, Johannes Betz

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

Accelerating drug discovery with Artificial: a whole-lab orchestration and scheduling system for self-driving labs

Yao Fehlis, Paul Mandel, Charles Crain, Betty Liu, David Fuller

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

CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Model

Ruoyu Yao, Yubin Wang, Haichao Liu, Rui Yang, Zengqi Peng, Lei Zhu, Jun Ma

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

Comments 14 pages, 7 figures

Trajectory Prediction for Autonomous Driving using Agent-Interaction Graph Embedding

Jilan Samiuddin, Benoit Boulet, Di Wu

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

Comments This article has been presented in the 27th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2024), Edmonton, Alberta, Canada on 26th September, 2024. Number of pages: 7, Number of figures: 8

Journal ref 27th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2024)

Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections

Adam Kollarčík adn Zdeněk Hanzálek

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

Comments Submitted version

Journal ref Proceedings of VEHITS 2024, pages 522-529

A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots

Sajjad Hussain, Md Saad, Almas Baimagambetov, Khizer Saeed

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