自动驾驶

Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness

具备运动各向异性意识的四足机器人导航轨迹规划

Wentao Zhang, Shaohang Xu, Peiyuan Cai, Lijun Zhu

机构 * School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, China（华中科技大学人工智能与自动化学院） 纠错

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

AI总结 本文提出了一种考虑四足机器人运动各向异性的导航框架，通过轨迹生成与优化提升导航效率和安全性。

Comments 8 pages, 6 figures, submitted to 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Restless Multi-Process Multi-Armed Bandits with Applications to Self-Driving Microscopies

restless 多进程多臂老虎机及其在自动驾驶显微镜中的应用

Jaume Anguera Peris, Songtao Cheng, Hanzhao Zhang, Wei Ouyang, Joakim Jaldén

机构 * Department of Information Science and Engineering（信息科学与工程系） ； Department of Applied Physics（应用物理系） ； Department of Biophysics（生物物理系） ； KTH Royal Institute of Technology（皇家理工学院） 纠错

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

AI总结 本文提出了一种新的决策理论框架RMPMAB，用于解决显微镜成像中的动态优化问题，通过马尔可夫链建模提升效率，减少遗憾并捕捉更多生物相关事件。

Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks

利用CNN和LSTM深度网络控制协作自动驾驶车辆的转向角

Rodolfo Valiente, Mahdi Zaman, Sedat Ozer, Yaser P. Fallah

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

AI总结 本文提出利用CNN和LSTM深度网络，通过考虑图像帧之间的时序依赖性，提高协作自动驾驶车辆转向角控制的准确性。

Comments Accepted in IV 2019, 6 pages, 9 figures

On Disturbance-Aware Minimum-Time Trajectory Planning: Evidence from Tests on a Dynamic Driving Simulator

关于扰动感知的最短时间轨迹规划：动态驾驶模拟器上的实验证据

Matteo Masoni, Vincenzo Palermo, Marco Gabiccini, Martino Gulisano, Giorgio Previati, Massimiliano Gobbi, Francesco Comolli, Gianpiero Mastinu, Massimo Guiggiani

机构 * Università di Pisa（帕尔马大学） ； Politecnico di Milano（米兰理工大学） 纠错

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

AI总结 本文提出扰动感知的最短时间轨迹规划方法，通过动态模拟器实验验证，表明FLC在降低转向努力的同时保持较短的lap时间，提升了驾驶性能和稳定性。

Comments 18 pages, 11 figures, 5 tables

Dynamics-Decoupled Trajectory Alignment for Sim-to-Real Transfer in Reinforcement Learning for Autonomous Driving

Thomas Steinecker, Alexander Bienemann, Denis Trescher, Thorsten Luettel, Mirko Maehlisch

机构 * University of the Bundeswehr Munich（联邦国防军慕尼黑大学） 纠错

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

Robot Path and Trajectory Planning Considering a Spatially Fixed TCP

Bernhard Rameder, Hubert Gattringer, Andreas Mueller, Ronald Naderer

机构 * Institute of Robotics, Johannes Kepler University Linz（机器人研究所，约翰·凯撒大学林茨） ； FerRobotics Compliant Robot Technology GmbH（FerRobotics 机器人技术公司） 纠错

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

Journal ref Advances in Service and Industrial Robotics, Proceedings of the 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2025)

\LARGE GMP$^{3}$: Learning-Driven, Bellman-Guided Trajectory Planning for UAVs in Real-Time on SE(3)

Babak Salamat, Dominik Mattern, Sebastian-Sven Olzem, Gerhard Elsbacher, Christian Seidel, Andrea M. Tonello

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

Systematic Constraint Formulation and Collision-Free Trajectory Planning Using Space-Time Graphs of Convex Sets

Matthew D. Osburn, Cameron K. Peterson, John L. Salmon

机构 * Department of Electrical and Computer Engineering, Brigham Young University（电气与计算机工程系，尤因斯大学） ； Department of Mechanical Engineering, Brigham Young University（机械工程系，尤因斯大学） 纠错

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

Comments 16 pages with references, 20 figures

Disturbance-Aware Dynamical Trajectory Planning for Air-Land Bimodal Vehicles

Shaoting Liu, Wenshuai Yu, Bo Zhang, Shoubin Chen, Fei Ma, Zhou Liu, Qingquan Li

机构 * Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen)（广东人工智能与数字经济实验室（深圳）） ； Shenzhen University（深圳大学） 纠错

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

VH-Diffuser: Variable Horizon Diffusion Planner for Time-Aware Goal-Conditioned Trajectory Planning

Ruijia Liu, Ancheng Hou, Shaoyuan Li, Xiang Yin

机构 * Department of Automation, Shanghai Jiao Tong University（自动化系，上海交通大学） 纠错

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

An Effective Trajectory Planning and an Optimized Path Planning for a 6-Degree-of-Freedom Robot Manipulator

Takumu Okazaki, Akira Terui, Masahiko Mikawa

机构 * University of Tsukuba, Tsukuba, Japan（茨川大学） 纠错

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

Comments 26 pages

Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing

Gokul Puthumanaillam, Aditya Penumarti, Manav Vora, Paulo Padrao, Jose Fuentes, Leonardo Bobadilla, Jane Shin, Melkior Ornik

机构 * University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； University of Florida（佛罗里达大学） ； Providence College（普罗维登斯学院） ； Florida International University（佛罗里达国际大学） 纠错

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

Comments Accepted to CoRL 2025 (Conference on Robot Learning)

FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions

Cheng Hu, Jihao Huang, Wule Mao, Yonghao Fu, Xuemin Chi, Haotong Qin, Nicolas Baumann, Zhitao Liu, Michele Magno, Lei Xie

机构 * Department of Control Science and Engineering, Zhejiang University（控制科学与工程系，浙江大学） ； Center for Project-Based Learning, D-ITET, ETH Zurich（基于项目的学习中心，苏黎世联邦理工学院） 纠错

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

Comments accepted by IROS 2025

Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

Adarsh Salagame, Eric Sihite, Alireza Ramezani

机构 * Department of Electrical and Computer Engineering, Northeastern University（电气与计算机工程系，东北大学） ； California Institute of Technology（加州理工学院） 纠错

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

Predictive Planner for Autonomous Driving with Consistency Models

Anjian Li, Sangjae Bae, David Isele, Ryne Beeson, Faizan M. Tariq

机构 * Honda Research Institute（本田研究院） ； Princeton University（普林斯顿大学） 纠错

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

Comments Accepted at the 28th IEEE International Conference on Intelligent Transportation Systems (ITSC) 2025

Towards Safe Autonomous Driving: A Real-Time Safeguarding Concept for Motion Planning Algorithms

Korbinian Moller, Rafael Neher, Marvin Seegert, Johannes Betz

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

Comments 7 pages, submitted to the IEEE ICVES 2025, Coventry, UK

MMD-OPT : Maximum Mean Discrepancy Based Sample Efficient Collision Risk Minimization for Autonomous Driving

Basant Sharma, Arun Kumar Singh

机构 * University of Tartu（塔尔图大学） 纠错

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

SafeMove-RL: A Certifiable Reinforcement Learning Framework for Dynamic Motion Constraints in Trajectory Planning

Tengfei Liu, Haoyang Zhong, Jiazheng Hu, Tan Zhang

机构 * Sino-German College of Intelligent Manufacturing, Shenzhen Technology University（深圳技术大学中德智能制造学院） ； Faculty of Science and Technology, University of Macau（澳门大学科技学院） 纠错

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

Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning

Anusha Srikanthan, Hanli Zhang, Spencer Folk, Vijay Kumar, Nikolai Matni

机构 * School of Engineering and Applied Science, University of Pennsylvania（工程与应用科学学院，宾夕法尼亚大学） ； EPFL（瑞士联邦理工学院） 纠错

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

Comments 4 pages, 4 figures

Journal ref ICRA 2025 Workshop on 25 Years of Aerial Robotics: Challenges and Opportunities

Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving

Lei Zheng, Rui Yang, Michael Yu Wang, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； School of Engineering（工程学院） ； Robotics and Autonomous Systems Thrust（机器人与自主系统方向） ； Division of Emerging Interdisciplinary Areas（新兴交叉领域部门） 纠错

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

Comments 17 pages, 10 figures

Journal ref IEEE Transactions on Intelligent Transportation Systems, vol. 26, no. 2, pp. 2169 - 2186, February 2025

Reward-Based Collision-Free Algorithm for Trajectory Planning of Autonomous Robots

Jose D. Hoyos, Tianyu Zhou, Zehui Lu, Shaoshuai Mou

机构 * School of Aeronautics and Astronautics, Purdue University（航空宇航学院，普渡大学） 纠错

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

Trajectory Planning with Model Predictive Control for Obstacle Avoidance Considering Prediction Uncertainty

Eric Schöneberg, Michael Schröder, Daniel Görges, Hans D. Schotten

机构 * Institute of Electromobility, RPTU University Kaiserslautern-Landau（电磁移动研究所，科隆-兰道大学） ； Institute of Wireless Communications and Navigation, RPTU University Kaiserslautern-Landau（无线通信与导航研究所，科隆-兰道大学） 纠错

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

Comments This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND

DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving

Weiming Qu, Jiawei Du, Shenghai Yuan, Jia Wang, Yang Sun, Shengyi Liu, Yuanhao Zhu, Jianfeng Yu, Song Cao, Rui Xia, Xiaoyu Tang, Xihong Wu, Dingsheng Luo

机构 * National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology, Peking University（国家关键人工智能实验室、机器感知（MoE）重点实验室、智能科学与技术学院，北京大学） ； PKU-WUHAN Institute for Artificial Intelligence（北京大学-武汉人工智能研究院） ； School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； School of Instrument Science and Engineering, Southeast University（东南大学仪器科学与工程学院） ； China Automotive Innovation Corporation（中国汽车创新公司） 纠错

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

RiskNet: Interaction-Aware Risk Forecasting for Autonomous Driving in Long-Tail Scenarios

Qichao Liu, Heye Huang, Shiyue Zhao, Lei Shi, Soyoung Ahn, Xiaopeng Li

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

Comments 24 pages, 14 figures

Differential Flatness-based Fast Trajectory Planning for Fixed-wing Unmanned Aerial Vehicles

Junzhi Li, Jingliang Sun, Teng Long, Zhenlin Zhou

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

Comments Updated version with minor language and formatting edits. This version has been accepted for publication in IEEE Transactions on Systems, Man, and Cybernetics: Systems (06-Apr-2025). This is the author's version of the accepted manuscript. The final version will appear in the IEEE Xplore digital library

Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections

Di Chen, Ruiguo Zhong, Kehua Chen, Zhiwei Shang, Meixin Zhu, Edward Chung

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

Comments 11 figures, 5 tables, 15 pages

Maintaining driver attentiveness in shared-control autonomous driving

Radu Calinescu, Naif Alasmari, Mario Gleirscher

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

Comments 7 pages, 6 figures

Journal ref 16th Int. Symp. on Software Engineering for Adaptive and Self-Managing Systems (SEAMS@ICSE), 2021

Planning with Adaptive World Models for Autonomous Driving

Arun Balajee Vasudevan, Neehar Peri, Jeff Schneider, Deva Ramanan

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

Comments This project has been accepted to the International Conference on Robotics and Automation (ICRA) 2025. Project Page: https://arunbalajeev.github.io/world_models_planning/world_model_paper.html

Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization

Patrick Halder, Hannes Homburger, Lothar Kiltz, Johannes Reuter, Matthias Althoff

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

Comments 6+2 pages, 3 figures, P. Halder and H. Homburger contributed equally to the paper, accepted to the 2025 IEEE International Conference on Robotics & Automation (ICRA25)

Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems

Christopher R. Hayner, John M. Carson, Behçet Açıkmeşe, Karen Leung

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

Comments This paper is accepted for the IEEE Robotics and Automation Letters (RA-L)