自动驾驶

Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone

Mithun Babu, Yash Oza, Arun Kumar Singh, K. Madhava Krishna, Shanti Medasani

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

Comments 6 pages

End-to-end Multi-Modal Multi-Task Vehicle Control for Self-Driving Cars with Visual Perception

Zhengyuan Yang, Yixuan Zhang, Jerry Yu, Junjie Cai, Jiebo Luo

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

Comments 6 pages, 5 figures

Composing Meta-Policies for Autonomous Driving Using Hierarchical Deep Reinforcement Learning

Richard Liaw, Sanjay Krishnan, Animesh Garg, Daniel Crankshaw, Joseph E. Gonzalez, Ken Goldberg

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

Comments 8 pages, 11 figures

Downwash-Aware Trajectory Planning for Large Quadrotor Teams

James A. Preiss, Wolfgang Hönig, Nora Ayanian, Gaurav S. Sukhatme

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

Comments 8 pages

Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving

Grady Williams, Paul Drews, Brian Goldfain, James M. Rehg, Evangelos A. Theodorou

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

Comments 20 pages, 12 figures, submitted to Transactions on Robotics (T-RO)

Stochastic Functional Gradient Path Planning in Occupancy Maps

Gilad Francis, Lionel Ott, Fabio Ramos

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

Stochastic Functional Gradient for Motion Planning in Continuous Occupancy Maps

Gilad Francis, Lionel Ott, Fabio Ramos

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

Comments To appear in the 2017 IEEE International Conference on Robotics and Automation (ICRA)

Essential Properties of Numerical Integration for Time-optimal Trajectory Planning Along a Specified Path

Peiyao Shen, Xuebo Zhang, Yongchun Fang

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

Comments 1. 8 pages, 10 figures, and submission for RA-L and ICRA 2017 2. Added reference [23] and its statements 3. Added Fig. 1 to explain various notations clearer 4. Moved proofs of Properties 2-5 into Appendix A-D to improve readability 5. Corrected typos

A Framework for Collision-Tolerant Optimal Trajectory Planning of Autonomous Vehicles

Mark L. Mote, Juan-Pablo Afman, Eric Feron

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

Comments 6 pages, 5 figures

A Self-Driving Robot Using Deep Convolutional Neural Networks on Neuromorphic Hardware

Tiffany Hwu, Jacob Isbell, Nicolas Oros, Jeffrey Krichmar

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

Comments 6 pages, 8 figures

SMAP: Simultaneous Mapping and Planning on Occupancy Grids

Ali-akbar Agha-mohammadi

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

Comments Technical report (to be completed)

Real-time Quasi-Optimal Trajectory Planning for Autonomous Underwater Docking

Amir Mehdi Yazdani, Karl Sammut, Andrew Lammas, Youhong Tang

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

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Brian Paden, Michal Cap, Sze Zheng Yong, Dmitry Yershov, Emilio Frazzoli

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

Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis

S Caro, Damien Chablat, P Lemoine, P Wenger

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

Comments Appears in International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2015, Boston, United States. 2015

Distribution-aware Goal Prediction and Conformant Model-based Planning for Safe Autonomous Driving

Jonathan Francis, Bingqing Chen, Weiran Yao, Eric Nyberg, Jean Oh

专题命中 规划控制 ：autonomous driving(title,comments)；分类 cs.RO、cs.CV、cs.AI

Comments Accepted: 1st Workshop on Safe Learning for Autonomous Driving, at the International Conference on Machine Learning (ICML 2022); Best Paper Award

Sce2DriveX: A Generalized MLLM Framework for Scene-to-Drive Learning

Rui Zhao, Qirui Yuan, Jinyu Li, Haofeng Hu, Yun Li, Chengyuan Zheng, Fei Gao

专题命中 规划控制 ：autonomous driving(abstract)；BEV(abstract)；end-to-end driving(abstract)；分类 cs.CV、cs.AI

Dynamic Environment Prediction in Urban Scenes using Recurrent Representation Learning

Masha Itkina, Katherine Driggs-Campbell, Mykel J. Kochenderfer

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

Comments 8 pages, updated final draft, accepted into Intelligent Transportation Systems Conference (ITSC) 2019

Bayesian Optimization for Self-Driving Materials Laboratories: From Algorithms to Physics-Informed Workflows

面向自主材料实验室的贝叶斯优化：从算法到物理信息驱动的工作流程

Yuki K. Wakabayashi, Takuma Otsuka

专题命中 规划控制 ：self-driving(title,abstract)

AI总结 该综述针对材料自主实验室的实际挑战，介绍贝叶斯优化算法及物理信息驱动的贝叶斯优化，总结其在多类材料领域的应用成果，并展望其未来发展方向。

Distributed Trajectory Planning and Resource Allocation for Dynamic Multi-UAV Collaborative Computing

面向动态多无人机协同计算的分布式轨迹规划与资源分配

Tiankui Zhang, Wenlong Xu, Tianyi Shi, Xiaoxia Xu, Arumugam Nallanathan

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 本文针对动态参与的多无人机协同计算场景，构建分布式MEC框架，基于斯塔克尔伯格博弈联合优化轨迹与资源，提出分层MADRL算法，仿真显示其能提升无人机效率、降低移动终端开销且适配不同网络规模。

Can Attribution Predict Risk? From Multi-View Attribution to Planning Risk Signals in End-to-End Autonomous Driving

属性能否预测风险？从多视图属性到端到端自动驾驶中的规划风险信号

Le Yang, Haijun Liu, Jiawei Liang, ShangQuan Sun, Xiaochun Cao

机构 * Sun Yat-sen University（中山大学） ； University of Chinese Academy of Sciences（中国科学院大学） ； Nanyang Technological University（南洋理工大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)

AI总结 本文提出了一种层次化属性框架，用于端到端规划中的风险预测，通过提取三种属性统计作为预测信号，提升了对轨迹误差和碰撞检测的预测能力。

TRUAV: Distributed Multi-Agent Reinforcement Learning for Trajectory Planning and Routing Enhancement in UAV-Aided IoT-Enabled VANETs

TRUAV：无人机辅助的物联网支持的车联网中用于轨迹规划和路由增强的分布式多智能体强化学习

Muhammad Umar Farooq Qaisar, Lin Zhang, Zhen Chen, Wajdy Othman, Shehzad Ashraf Chaudhry, Chang Liu

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 研究无人机辅助车联网中轨迹规划与路由增强问题，提出基于独立表格Q学习的分布式多智能体强化学习框架TRUAV，其智能体依局部信息运行，奖励设计兼顾多种因素，模拟显示该框架在多方面表现良好，还讨论了相关挑战与方向。

Comments 7 pages, 3 figures, submitted to IEEE Internet of Things Magazine

AEcroscopyWave: Towards Self-Driving Characterization Platforms for Agentic AI

AEcroscopyWave：迈向用于智能AI的自动驾驶表征平台

Yongtao Liu, Jawad Chowdhury, Ganesh Narasimha, Ralph Bulanadi, Liam Collins, Ruben Millan Solsona, Marti Checa, Asraful Haque, Sumner B. Harris, Stephen Jesse, Rama Vasudevan

专题命中 规划控制 ：self-driving(title,abstract)

AI总结 探讨电子材料表征的两种传统方式，介绍“自动驾驶”表征工具进展。基于AEcroscopyWave平台，通过创建控制硬件的API并整合AI方法，弥合行业规模自动化与高度定制系统差距，展示异构仪器供智能体使用的好处。

Comments 17 pages, 5 figures

Handover-Aware Trajectory Planning for Cellular-Connected UAVs under STL Specifications and URLLC Constraints

超可靠低延迟通信（URLLC）约束下蜂窝连接无人机的切换感知轨迹规划

Yuqi Ping, Tianhao Liang, Bofeng Zheng, Bingyan Xie, Tingting Zhang

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 研究蜂窝连接无人机在URLLC约束下执行任务的切换感知轨迹规划，用信号时序逻辑和有限块长URLLC可行性表征要求，制定联合规划问题，采用逻辑网络流等求解，模拟表明规划器可执行任务并揭示多因素对轨迹等的影响。

Game-Theoretic Multi-Agent Reinforcement Learning for Swarm Trajectory Planning in Low-Altitude Wireless Networks

低空无线网络中基于博弈论的多智能体强化学习群体轨迹规划

Nguyen Duc Minh Quang, Ruoxi Chong, Zhiqiang Wei, Chang Liu, Derrick Wing Kwan Ng

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 针对低空无线网络中多无人机在多小区基站下因资源块分配导致的轨迹耦合问题，提出合作随机拥塞博弈模型和CTDE-MAPPO算法，实现通信与任务联合优化。

Comments Submitted to IEEE/CIC ICCC 2026 in Wuhan

Using control synthesis to generate corner cases: A case study on autonomous driving

利用控制合成生成边界情况：自动驾驶的案例研究

Glen Chou, Yunus E. Sahin, Liren Yang, Kwesi J. Rutledge, Petter Nilsson, Necmiye Ozay

专题命中 规划控制 ：autonomous driving(title,abstract)

AI总结 本文通过正确性由构造的控制合成方法，特别是受控不变集计算，用于故障排除。我们的假设是，如果能够为实际系统模型或其简化模型计算出一个“足够大的”受控不变集，通过从该受控不变集边界采样初始条件，可以生成其他控制设计的有趣边界情况。此外，如果通过此类采样可以找到给定控制设计的故障排除轨迹，则受控不变集可作为监督器，确保所考虑的控制设计的安全运行。除了与瞬态安全违规相关的有趣初始条件外，我们还利用双重游戏，即用于安全规范的可达性游戏，来寻找故障排除输入。我们还为状态处于双重游戏获胜集之外的情况提出了基于优化的启发式方法用于输入生成。为了展示所提出的想法，我们考虑了基本自动驾驶功能的案例研究，特别是自适应巡航控制和车道保持。我们展示了所提出技术如何用于为经典控制设计如比例控制器、比例积分控制器和模型预测控制器，以及一个开源的真实世界自动驾驶包找到有趣的故障排除轨迹。

Comments To appear at EMSOFT 2018

Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder

在对抗性入侵下安全且稳健的多车轨迹规划

Somil Bansal, Mo Chen, Claire J. Tomlin

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 本文提出一种改进的序列轨迹规划方法，通过仅对固定数量的车辆进行重新规划，提高了多车轨迹规划的可扩展性和鲁棒性，适用于大规模系统。

Comments Submitted to IEEE Transactions on Automatic Control. arXiv admin note: text overlap with arXiv:1611.08364

Flight Trajectory Planning for Fixed-Wing Aircraft in Loss of Thrust Emergencies

固定翼飞机在推力丧失紧急情况下的飞行轨迹规划

Saswata Paul, Frederick Hole, Alexandra Zytek, Carlos A. Varela

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 本文提出了一种动态数据驱动的航空电子软件方法，用于在飞机受损时生成安全着陆轨迹，并通过案例研究验证了其有效性。

Comments This work was accepted as a full paper and presented in the Second International Conference on InfoSymbiotics / DDDAS (Dynamic Data Driven Applications Systems) held at MIT, Cambridge, Massachusetts in August, 2017

Automatic HVAC Control with Real-time Occupancy Recognition and Simulation-guided Model Predictive Control in Low-cost Embedded System

基于实时占用识别与模拟引导的模型预测控制的自动 HVAC 控制

Muhammad Aftab, Chien Chen, Chi-Kin Chau, Talal Rahwan

专题命中 规划控制 ：occupancy(title,abstract)

AI总结 本文提出了一种基于低成本嵌入式系统的自动 HVAC 控制系统，通过实时视频处理和机器学习实现占用识别，结合热响应模拟进行动态预测和控制，实现节能效果。

Comments To appear in Energy and Buildings

Journal ref Volume 154, 1 November 2017, Pages 141-156, Energy and Buildings

Trajectory Planning of Automated Vehicles in Tube-like Road Segments

自动驾驶车辆在管状道路段的轨迹规划

Mogens Graf Plessen

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 本文提出基于线性规划的自动驾驶轨迹规划方法，结合障碍规避、路标时间调度及管状道路时间最优通行，通过空间域建模与车辆尺寸约束启发式方法提升路径规划效率。

Comments - 8 pages, 7 figures, 1 table. - this is the extended version of the ITSC 2017 conference paper

Trajectory Planning Under Vehicle Dimension Constraints Using Sequential Linear Programming

基于车辆尺寸约束的轨迹规划的序列线性规划方法

Mogens Graf Plessen, Pedro F. Lima, Jonas Martensson, Alberto Bemporad, Bo Wahlberg

专题命中 规划控制 ：trajectory planning(title,abstract)

AI总结 本文提出一种考虑车辆尺寸约束的轨迹规划方法，通过序列线性规划算法解决凸优化问题，提升在受限环境中的性能。

Comments - 7 pages, 13 figures, extended version of ITSC 2017 conference paper