自动驾驶

An Optimization-Based Receding Horizon Trajectory Planning Algorithm

Kristoffer Bergman, Oskar Ljungqvist, Torkel Glad, Daniel Axehill

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

Comments Submitted for IFAC World Congress 2020

Secure Trajectory Planning Against Undetectable Spoofing Attacks

Yin-Chen Liu, Gianluca Bianchin, Fabio Pasqualetti

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

Comments Accepted for publication in Automatica

Multi-Drone 3D Trajectory Planning and Scheduling in Drone Assisted Radio Access Networks

Weisen Shi, Junlng Li, Nan Cheng, Feng Lyu, Shan Zhang, Haibo Zhou, Xuemin Shen

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

Comments Published on IEEE TVT

Journal ref IEEE Transactions on Vehicular Technology, vol. 68, no. 8, pp. 8145-8158, Aug. 2019

Misbehaviour Prediction for Autonomous Driving Systems

Andrea Stocco, Michael Weiss, Marco Calzana, Paolo Tonella

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

Comments 11 pages

Trajectory Planning of Weakly Supervised Aircraft

Sho Yoshimura, Masaki Inoue

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

Uncertainty Quantification with Statistical Guarantees in End-to-End Autonomous Driving Control

Rhiannon Michelmore, Matthew Wicker, Luca Laurenti, Luca Cardelli, Yarin Gal, Marta Kwiatkowska

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

Comments 7 pages, 3 figures, submitted to ICRA 2020

Improvements to Warm-Started Optimized Trajectory Planning for ASVs

Glenn Bitar, Anastasios M. Lekkas, Morten Breivik

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

Comments 9 pages, 6 figures, 2 tables. Preprint as submitted to a special issue on Maritime Robotics and Control Systems of the International Journal of Control, Automation and Systems

Capturing vehicular space headway using low-cost LIDAR and processing through ARIMA prediction modeling

Azhagan Avr, Shams Tanvir, Nagui M. Rouphail, Rachana Gupta

专题命中 规划控制 ：LiDAR(title,abstract)

Comments 16 pages, 9 figures, and 2 tables

Are Self-Driving Cars Secure? Evasion Attacks against Deep Neural Networks for Steering Angle Prediction

Alesia Chernikova, Alina Oprea, Cristina Nita-Rotaru, BaekGyu Kim

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

Comments Preprint of the work accepted for publication at the IEEE Workshop on the Internet of Safe Things, San Francisco, CA, USA, May 23, 2019

Nonautonomous driving induces stability in network of identical oscillators

Maxime Lucas, Duccio Fanelli, Aneta Stefanovska

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

Journal ref Phys. Rev. E 99, 012309 (2019)

Trajectory planning optimization for real-time 6DOF robotic patient motion compensation

Rodney D. Wiersma, Xinmin Liu

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

Fast Trajectory Planning for Automated Vehicles using Gradient-based Nonlinear Model Predictive Control

Franz Gritschneder, Knut Graichen, Klaus Dietmayer

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

On Maximizing Safety in Stochastic Aircraft Trajectory Planning with Uncertain Thunderstorm Development

Daniel Hentzen, Maryam Kamgarpour, Manuel Soler, Daniel González-Arribas

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

Comments 13 pages, journal

Age-Optimal Trajectory Planning for UAV-Assisted Data Collection

Juan Liu, Xijun Wang, Bo Bai, Huaiyu Dai

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

Comments IEEE Infocom 2018 - 1st Workshop on Age of Information

Ethical and Social Aspects of Self-Driving Cars

Tobias Holstein, Gordana Dodig-Crnkovic, Patrizio Pelliccione

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

Comments 11 pages, 3 figures, 2 tables

Probabilistic Vehicle Trajectory Prediction over Occupancy Grid Map via Recurrent Neural Network

ByeoungDo Kim, Chang Mook Kang, Seung Hi Lee, Hyunmin Chae, Jaekyum Kim, Chung Choo Chung, Jun Won Choi

专题命中 规划控制 ：occupancy(title,abstract)

Coordinated Complexity-Aware 4D Trajectory Planning

Xiongwen Qian, Jianfeng Mao, Xudong Diao, Changpeng Yang

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

Comments This paper has been withdrawn by the author due to an error in equation (17)

Symmetry Reduction, Contact Geometry and Nonlinear Trajectory Planning

Jose De Dona, Naghmana Tehseen, Peter J Vassiliou

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

Comments 28 pages and 3 figures

PersonaDrive: Controllable Trajectory Prediction with Multi-Dimensional Driving Personas

PersonaDrive：基于多维驾驶 personas 的可控轨迹预测

Chan Lee, Kimin Yun, Yuseok Bae, Seong Tae Kim, Jung Uk Kim

机构 * Kyung Hee University（庆熙大学） ； ETRI（韩国电子通信研究院） 纠错

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

AI总结 针对现有轨迹预测方法可控性不足的问题，提出 PCT 数据集与 PersonaDrive 框架，通过多轴设计实现可控轨迹生成，性能优于基线。

Comments Accepted to ECCV 2026

SIPTraj: Map-Free End-to-End Trajectory Prediction via Physics-Guided Scene Interaction

SIPTraj：无高精地图的物理引导场景交互端到端轨迹预测

Feifei Liu, Zejun Wei, Haozhe Wang, Yazhi Ye, Yuying Zhang, Jintao Cheng, Chi Man Vong, Xieyuanli Chen, Xiaoyu Tang

机构 * School of Data Science and Engineering, Xingzhi College, South China Normal University（华南师范大学行知学院数据科学与工程学院） ； Hong Kong University of Science and Technology（香港科技大学） ； University of Macau（澳门大学） ； College of Intelligence Science and Technology, National University of Defense Technology（国防科技大学智能科学学院） ； School of Electronic Science and Engineering, South China Normal University（华南师范大学电子科学与工程学院） 纠错

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

AI总结 SIPTraj是一种无高精地图的端到端轨迹预测框架，通过分层智能体-场景编码器和物理引导迭代解码器解决场景锚定与物理可行性问题，在两个数据集上性能优于现有方法，推理无需高精地图。

Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions

基于控制障碍函数的安全多面体在多面体内的运动规划与控制

Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers, Wilm Decré

机构 * KU Leuven（鲁汶大学） 纠错

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

AI总结 提出一种安全局部运动规划与控制方法，通过模型预测控制器中的离散时间控制障碍函数约束，保证多面体机器人足迹始终位于连续更新的凸自由空间内，计算时间随障碍物数量增加最多降低91倍。

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

TLCFuse: Temporal Multi-Modality Fusion Towards Occlusion-Aware Semantic Segmentation-Aided Motion Planning

Gustavo Salazar-Gomez, Wenqian Liu, Manuel Diaz-Zapata, David Sierra-Gonzalez, Christian Laugier

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

Comments Published on 2024 IEEE Intelligent Vehicles Symposium (IV)

CASPNet++: Joint Multi-Agent Motion Prediction

Maximilian Schäfer, Kun Zhao, Anton Kummert

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

Comments 8 pages, 6 figures

ObserveNet Control: A Vision-Dynamics Learning Approach to Predictive Control in Autonomous Vehicles

Cosmin Ginerica, Mihai Zaha, Florin Gogianu, Lucian Busoniu, Bogdan Trasnea, Sorin Grigorescu

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

Journal ref IEEE Robotics and Automation Letters, 2021

Deep Grid Net (DGN): A Deep Learning System for Real-Time Driving Context Understanding

Liviu Marina, Bogdan Trasnea, Cocias Tiberiu, Andrei Vasilcoi, Florin Moldoveanu, Sorin Grigorescu

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

Journal ref Int. Conf. on Robotic Computing IRC 2019, Naples, Italy, February 25-27, 2019

Gating Before Commitment: Anticipating Intent Divergence to Prevent Post-Interaction Decision Failures in Autonomous Driving

承诺前的门控：预测意图分歧以防止自动驾驶中交互后的决策失败

Cong Xu, Ravi Sankar

机构 * University of South Florida（南佛罗里达大学） 纠错

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

AI总结 该研究提出承诺前的门控决策层，通过语言引导意图模块检测自动驾驶车辆交互中的意图分歧，可修复规划、降低误触发率，其对故障的最快检测和不确定性否决作用获实验支持。

Comments 8 pages, 4 figures. Submitted to the 16th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV) at IROS 2026. Supplementary video included as ancillary material

From Operational Design Domain to Action: A Systematic Behavioral Taxonomy for Autonomous Driving

从运行设计域到行动：自动驾驶的系统行为分类学

Chaitanya Shinde, Hadi Hajieghrary, Miguel Hurtado

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

AI总结 本文针对ADS安全保障中ODD规范与行为验证的差距，构建了涵盖三类运行域的21项行为能力分类学，结合标准验证并确定枢纽域需专项研究，为ADS行为测试提供场景基础。

RAPiD: Reward-Guided Consistency Distillation of Diffusion Planners for Real-Time Autonomous Driving

RAPiD: 通过扩散行为先验实现安全高效的实时确定性轨迹规划

Ruturaj Reddy, Hrishav Bakul Barua, Junn Yong Loo, Thanh Thi Nguyen, Ganesh Krishnasamy

机构 * School of Information Technology, Monash University, Malaysia（墨尔本大学信息科技学院） ； Faculty of Information Technology, Monash University, Australia（墨尔本大学信息技术学院） ； TCS Research, India（印度TCS研究） 纠错

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

AI总结 RAPiD通过扩散行为先验实现高效安全的实时轨迹规划，优于现有方法。

What Probing Reveals about Autonomous Driving: Linking Internal Prediction Errors to Ego Planning

探测揭示自动驾驶：内部预测误差与自我规划的关联

Hyeonchang Jeon, Kyungbeom Kim, Eugene Vinitsky, Kyung-Joong Kim

机构 * Gwangju Institute of Science and Technology (GIST)（光州科学技术院） ； New York University（纽约大学） 纠错

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

AI总结 通过线性探测和因果干预，研究自动驾驶策略在碰撞事件中缺乏及时预测能力，导致规划缺陷，并证明纠正预测可提升安全性。

Comments 10 pages

THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion

THREAD: 面向混合刚柔机械臂的环境感知扩散轨迹规划

Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary

机构 * University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； University of Maryland College Park（马里兰大学帕克分校） 纠错

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

AI总结 提出首个基于扩散的混合刚柔机械臂轨迹规划器THREAD，通过物理启发损失联合约束刚柔段，实现狭窄环境穿行，任务成功率92.4%，碰撞减少5倍。

Comments Project Page: https://robot-thread.github.io, IROS 2026