自动驾驶 - arXivDaily 专题

2412.01034 2024-12-03 cs.RO cs.CV cs.LG 73%

Quantization-Aware Imitation-Learning for Resource-Efficient Robotic Control

Seongmin Park, Hyungmin Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, Jungwook Choi

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

2407.01216 2024-07-02 cs.RO cs.AI 73%

Let Hybrid A* Path Planner Obey Traffic Rules: A Deep Reinforcement Learning-Based Planning Framework

Xibo Li, Shruti Patel, Christof Büskens

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

2404.08021 2024-04-15 cs.LG cs.AI cs.RO 73%

VeTraSS: Vehicle Trajectory Similarity Search Through Graph Modeling and Representation Learning

Ming Cheng, Bowen Zhang, Ziyu Wang, Ziyi Zhou, Weiqi Feng, Yi Lyu, Xingjian Diao

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

2303.14889 2023-11-20 cs.LG cs.AI cs.RO 73%

Model-Based Reinforcement Learning with Isolated Imaginations

Minting Pan, Xiangming Zhu, Yitao Zheng, Yunbo Wang, Xiaokang Yang

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

Comments arXiv admin note: text overlap with arXiv:2205.13817

2311.09780 2023-11-17 cs.LO cs.AI cs.RO 73%

Model Checking for Closed-Loop Robot Reactive Planning

Christopher Chandler, Bernd Porr, Alice Miller, Giulia Lafratta

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

Comments In Proceedings FMAS 2023, arXiv:2311.08987

Journal ref EPTCS 395, 2023, pp. 77-94

2309.14272 2023-09-26 cs.RO cs.AI 73%

Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty

Reiya Takemura, Genya Ishigami

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

Comments 7 pages, 7 figures, 2 tables. Submitted article for presentation at the 2024 IEEE International Conference on Robotics and Automation (ICRA)

2303.06080 2023-03-13 cs.RO cs.CV 73%

Communication-Critical Planning via Multi-Agent Trajectory Exchange

Nathaniel Moore Glaser, Zsolt Kira

专题命中规划控制：self-driving(abstract)；occupancy(abstract)；分类 cs.RO、cs.CV

Comments Accepted to ICRA 2023

2208.10449 2022-11-02 cs.CV cs.LG cs.RO 73%

SCONE: Surface Coverage Optimization in Unknown Environments by Volumetric Integration

Antoine Guédon, Pascal Monasse, Vincent Lepetit

专题命中规划控制：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO、cs.CV

Comments NeurIPS 2022 Camera-Ready. Project Webpage: https://github.com/Anttwo/SCONE

2210.10613 2022-10-20 cs.RO cs.AI 73%

Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verification

Yang Guan, Liye Tang, Chuanxiao Li, Shengbo Eben Li, Yangang Ren, Junqing Wei, Bo Zhang, Keqiang Li

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

2208.07256 2022-08-16 cs.RO cs.CV 73%

Multi-modal Transformer Path Prediction for Autonomous Vehicle

Chia Hong Tseng, Jie Zhang, Min-Te Sun, Kazuya Sakai, Wei-Shinn Ku

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

Comments 9 pages, 12 figures, and 5 tables

2205.13071 2022-06-14 cs.RO cs.CV 73%

Exploring Map-based Features for Efficient Attention-based Vehicle Motion Prediction

Carlos Gómez-Huélamo, Marcos V. Conde, Miguel Ortiz

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

Comments CVPR MABe 2022 - ICRA FFPFAD 2022 Workshops

2206.03004 2022-06-08 cs.RO cs.AI cs.LG 73%

Driving in Real Life with Inverse Reinforcement Learning

Tung Phan-Minh, Forbes Howington, Ting-Sheng Chu, Sang Uk Lee, Momchil S. Tomov, Nanxiang Li, Caglayan Dicle, Samuel Findler, Francisco Suarez-Ruiz, Robert Beaudoin, Bo Yang, Sammy Omari, Eric M. Wolff

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

2110.13629 2021-10-27 cs.LG cs.AI cs.CV math.OC 73%

Bayesian Optimization and Deep Learning forsteering wheel angle prediction

Alessandro Riboni, Nicolò Ghioldi, Antonio Candelieri, Matteo Borrotti

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

2006.02000 2021-05-25 cs.CV cs.LG eess.IV 73%

MultiXNet: Multiclass Multistage Multimodal Motion Prediction

Nemanja Djuric, Henggang Cui, Zhaoen Su, Shangxuan Wu, Huahua Wang, Fang-Chieh Chou, Luisa San Martin, Song Feng, Rui Hu, Yang Xu, Alyssa Dayan, Sidney Zhang, Brian C. Becker, Gregory P. Meyer, Carlos Vallespi-Gonzalez, Carl K. Wellington

专题命中规划控制：self-driving(abstract)；LiDAR(abstract)；分类 cs.CV、eess.IV

Comments Accepted for publication at IEEE Intelligent Vehicles Symposium (IV) 2021

2104.14679 2021-05-03 cs.RO cs.CV 73%

Physically Feasible Vehicle Trajectory Prediction

Harshayu Girase, Jerrick Hoang, Sai Yalamanchi, Micol Marchetti-Bowick

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

2102.03127 2021-02-08 cs.RO cs.AI 73%

Experience-Based Heuristic Search: Robust Motion Planning with Deep Q-Learning

Julian Bernhard, Robert Gieselmann, Klemens Esterle, Alois Knoll

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

Comments published at IEEE IV 2018

2007.14558 2020-11-17 cs.CV cs.RO 73%

BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimation

Yu Yao, Ella Atkins, Matthew Johnson-Roberson, Ram Vasudevan, Xiaoxiao Du

专题命中规划控制：autonomous driving(abstract)；BEV(abstract)；分类 cs.RO、cs.CV

Comments Main paper: 8 pages, 5 figures, 5 tables Supplement: 4 pages, 2 figrues, 3 tables

2009.12916 2020-09-29 cs.LG cs.CV cs.RO stat.ML 73%

Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph

Sumit Kumar, Yiming Gu, Jerrick Hoang, Galen Clark Haynes, Micol Marchetti-Bowick

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

1810.05766 2018-10-16 cs.RO cs.AI cs.MA math.OC 73%

Hierarchical Game-Theoretic Planning for Autonomous Vehicles

Jaime F. Fisac, Eli Bronstein, Elis Stefansson, Dorsa Sadigh, S. Shankar Sastry, Anca D. Dragan

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

Comments Submitted to ICRA 2019

1808.10134 2018-08-31 cs.RO cs.AI cs.LG 73%

Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm

Fan Zhu, Lin Ma, Xin Xu, Dingfeng Guo, Xiao Cui, Qi Kong

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

2206.10041 2022-06-22 cs.CV 72%

MPA: MultiPath++ Based Architecture for Motion Prediction

Stepan Konev

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

Comments CVPR 2022, Workshop on Autonomous Driving

2608.09144 2026-08-11 eess.SY cs.SY 新提交 71%

How Roadside Units Enhance Intersection Safety? Cooperative Autonomous Driving System Design and A Proof of Concept

路侧单元如何提升交叉口安全性？协作自动驾驶系统设计与概念验证

Taoyuan Yu, Kui Wang, Zongdian Li, Tao Yu, Walid Saad, Kei Sakaguchi

专题命中规划控制：autonomous driving(title)

AI总结本文提出基于RSU的V2I2V协作自动驾驶系统，结合全局与局部DT及HRL框架，经仿真与PoC试验验证，可提升智能交叉口的安全性与交通效率。

2608.00320 2026-08-04 cs.LG cs.MA cs.SY eess.SY 新提交 71%

Neural operator learning for collision-aware trajectory planning of spacecraft swarms

面向航天器集群碰撞感知轨迹规划的神经算子学习

Sidhdharth D. Sikka, Suyi Gao, Zehui Lu, Rongjie Lai, Shaoshuai Mou

机构 * Purdue University（普渡大学）； Manifold Research Group（流形研究组）

专题命中规划控制：trajectory planning(title)

AI总结该研究提出排列等变神经算子，结合自监督物理目标与对抗威胁训练，实现航天器集群轨迹规划，可零样本泛化到大规模集群，精度接近最优控制求解器，性能优于无碎片感知基线。

Comments 27 pages, 6 figures, 6 tables. Submitted to Nature Machine Intelligence. Video abstract included as ancillary file

2606.21486 2026-06-23 math.OC cs.SY eess.SY 新提交 71%

Reference-Free, Long-Horizon Trajectory Optimization for Aggressive Autonomous Driving in Milliseconds

无参考、长时域、毫秒级激进自动驾驶轨迹优化

Prayag Sharma, Jonathan Y. M. Goh, Franck Djeumou

专题命中规划控制：autonomous driving(title)

AI总结针对无参考初始猜测下长时域轨迹优化实时性差的问题，提出基于车辆刚度分析选择A稳定积分方法、动态平衡初始猜测生成及鲁棒非线性求解器策略，在260米时域内实现55毫秒求解，支持高速漂移避障。

1810.12442 2026-06-04 eess.SY cs.SY 71%

Design and Implementation of Ecological Adaptive Cruise Control for Autonomous Driving with Communication to Traffic Lights

基于交通信号的生态自适应巡航控制系统设计与实现

Sangjae Bae, Yeojun Kim, Jacopo Guanetti, Francesco Borrelli, Scott Moura

专题命中规划控制：autonomous driving(title)

AI总结本文提出了一种利用驾驶自动化和联网技术的生态自适应巡航控制系统（ECO-ACC），通过利用交通信号的历史和实时相位及定时数据来减少联网自动化车辆的能耗，同时避免前方碰撞和交通信号违规。

Comments Submitted to 2019 American Control Conference

1805.00959 2026-06-04 eess.SY cs.SY 71%

Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles

轨迹规划的微分几何方法：自主水下车辆团队的协同运输

Hadi Hajieghrary, Dhanushka Kularatne, M. Ani Hsieh

专题命中规划控制：trajectory planning(title)

AI总结本文提出利用微分几何方法解决自主水下车辆团队协同运输问题，通过分解子问题设计分布式反馈控制策略，实现负载沿期望轨迹运输。

1710.04731 2026-06-04 eess.SY cs.GT cs.SY 71%

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning

规划，快速与缓慢：一种自适应实时安全轨迹规划的框架

David Fridovich-Keil, Sylvia L. Herbert, Jaime F. Fisac, Sampada Deglurkar, Claire J. Tomlin

专题命中规划控制：trajectory planning(title)

AI总结本文提出一种自适应实时安全轨迹规划框架，通过元规划实现不同在线规划器的安全切换，以应对未知环境和障碍物。

Comments ICRA, International Conference on Robotics and Automation, ICRA 2018, 8 pages, 9 figures

2511.13006 2026-05-01 eess.SY cs.SY 71%

Cooperative ISAC for LAE: Joint Trajectory Planning, Power allocation, and Dynamic Time Division

协同ISAC用于LAE：联合轨迹规划、功率分配和动态时分

Fangzhi Li, Zhichu Ren, Cunhua Pan, Hong Ren, Jing Jin, Qixing Wang, Jiangzhou Wang

专题命中规划控制：trajectory planning(title)

AI总结本文提出了一种多无人机系统的集成感知与通信框架，通过动态时分策略优化轨迹、功率分配和时间分隔比，以提高空中-地面网络性能。

2111.00951 2026-04-28 math.OC 71%

Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees

基于平坦性的四旋翼轨迹规划与跟踪及连续时间安全保证

Victor Freire, Xiangru Xu

专题命中规划控制：trajectory planning(title)

AI总结本文提出了一种凸优化框架，用于四旋翼轨迹规划与跟踪，通过B样条基函数和四旋翼的微分平坦性，构建二次锥规划以生成满足连续时间安全约束的最优轨迹，并通过二次规划保证轨迹跟踪的连续时间有界性。

Comments 16 pages, 13 figures

2604.17281 2026-04-21 cs.NI 71%

Safety-Aware AoI Scheduling for LEO Satellite-Assisted Autonomous Driving

安全意识的LEO卫星辅助自动驾驶AOI调度

Kangkang Sun, Junyi He, Juntong Liu, Xiuzhen Chen, Jianhua Li, Minyi Guo

专题命中规划控制：autonomous driving(title)

AI总结本文提出一种统一框架，结合双时间尺度AOI模型与分层时间平均安全约束，通过虚拟队列实现安全验证，解决LEO卫星与车辆运动导致的多普勒效应、子槽切换故障及不同优先级车辆的异构新鲜度需求问题。

Comments 15 pages, 7 figures, has been submitted to IEEE Internet of Journal for possible publication

1. 规划控制 4271 篇

Quantization-Aware Imitation-Learning for Resource-Efficient Robotic Control

Let Hybrid A* Path Planner Obey Traffic Rules: A Deep Reinforcement Learning-Based Planning Framework

VeTraSS: Vehicle Trajectory Similarity Search Through Graph Modeling and Representation Learning

Model-Based Reinforcement Learning with Isolated Imaginations

Model Checking for Closed-Loop Robot Reactive Planning

Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty

Communication-Critical Planning via Multi-Agent Trajectory Exchange

SCONE: Surface Coverage Optimization in Unknown Environments by Volumetric Integration

Integrated Decision and Control for High-Level Automated Vehicles by Mixed Policy Gradient and Its Experiment Verification

Multi-modal Transformer Path Prediction for Autonomous Vehicle

Exploring Map-based Features for Efficient Attention-based Vehicle Motion Prediction

Driving in Real Life with Inverse Reinforcement Learning

Bayesian Optimization and Deep Learning forsteering wheel angle prediction

MultiXNet: Multiclass Multistage Multimodal Motion Prediction

Physically Feasible Vehicle Trajectory Prediction

Experience-Based Heuristic Search: Robust Motion Planning with Deep Q-Learning

BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimation

Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph

Hierarchical Game-Theoretic Planning for Autonomous Vehicles

Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm

MPA: MultiPath++ Based Architecture for Motion Prediction

How Roadside Units Enhance Intersection Safety? Cooperative Autonomous Driving System Design and A Proof of Concept

Neural operator learning for collision-aware trajectory planning of spacecraft swarms

Reference-Free, Long-Horizon Trajectory Optimization for Aggressive Autonomous Driving in Milliseconds

Design and Implementation of Ecological Adaptive Cruise Control for Autonomous Driving with Communication to Traffic Lights

Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning

Cooperative ISAC for LAE: Joint Trajectory Planning, Power allocation, and Dynamic Time Division

Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees

Safety-Aware AoI Scheduling for LEO Satellite-Assisted Autonomous Driving