自动驾驶 - arXivDaily 专题

2307.09845 2023-07-20 cs.RO 70%

Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment

Changyu Lee, Dongha Chung, Jonghwi Kim, Jinwhan Kim

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

2304.08252 2023-06-16 cs.RO 70%

PaaS: Planning as a Service for reactive driving in CARLA Leaderboard

Nhat Hao Truong, Huu Thien Mai, Tuan Anh Tran, Minh Quang Tran, Duc Duy Nguyen, Ngoc Viet Phuong Pham

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

Comments accepted on 05.06.2023, revised on 15.06.2023, to be published on ICSSE 2023

2210.10254 2023-06-09 cs.RO cs.SY eess.SY 70%

Safe Planning in Dynamic Environments using Conformal Prediction

Lars Lindemann, Matthew Cleaveland, Gihyun Shim, George J. Pappas

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

2208.13160 2023-04-11 cs.RO 70%

An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments

Zhichao Han, Yuwei Wu, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li, Changjia Ma, Chao Xu, Shaojie Shen, Fei Gao

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

2103.03054 2022-12-14 cs.RO cs.SY eess.SY 70%

An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm

Taekyung Kim, Seunghyun Lim, Gwanjun Shin, Geonhee Sim, Dongwon Yun

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

Comments Accepted to IEEE Access 2022. Project Github: https://github.com/shinkansan/2019-UGRP-DPoom Video: https://youtu.be/Li3-RlO28lk

Journal ref IEEE Access, vol. 10, pp. 127871-127881, 2022

2210.10933 2022-10-21 cs.RO 70%

The Software Stack That Won the Formula Student Driverless Competition

Andres Alvarez, Nico Denner, Zhe Feng, David Fischer, Yang Gao, Lukas Harsch, Sebastian Herz, Nick Le Large, Bach Nguyen, Carlos Rosero, Simon Schaefer, Alexander Terletskiy, Luca Wahl, Shaoxiang Wang, Jonona Yakupova, Haocen Yu

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

Comments Published and presented at OCAR-ICRA2022, the 2nd Workshop on Opportunities and Challenges with Autonomous Racing at the IEEE International Conference on Robotics and Automation (ICRA) 2022. Recording available at https://icra2022.f1tenth.org/program.html

2203.01681 2022-10-17 cs.RO cs.LG 70%

Quantity over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data

Lukas Platinsky, Tayyab Naseer, Hui Chen, Ben Haines, Haoyue Zhu, Hugo Grimmett, Luca Del Pero

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

2110.00065 2022-04-13 cs.RO 70%

A Sufficient Condition for Convex Hull Property in General Convex Spatio-Temporal Corridors

Weize Zhang, Peyman Yadmellat, Zhiwei Gao

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

Comments Accepted by IV22

2202.10029 2022-02-22 cs.RO 70%

Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Yutaka Shimizu, Takamasa Horibe, Fumiya Watanabe, Shinpei Kato

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

2106.09307 2022-02-15 cs.RO cs.SY eess.SY 70%

Design of a prototypical platform for autonomous and connected vehicles

Stefano Arrigoni, Simone Mentasti, Federico Cheli, Matteo Matteucci, Francesco Braghin

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

2111.15343 2021-12-01 cs.RO 70%

Fast and Real-time End to End Control in Autonomous Racing Cars Through Representation Learning

Praveen Venkatesh, Rwik Rana, Harish PM

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

2110.15465 2021-11-01 cs.RO 70%

A hierarchical behavior prediction framework at signalized intersections

Zhen Yang, Rusheng Zhang, Henry X. Liu

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

Comments This work has been accepted to the IEEE 2021 International Conference on Intelligent Transportation Systems

2110.00645 2021-10-05 cs.RO cs.LG 70%

How To Not Drive: Learning Driving Constraints from Demonstration

Kasra Rezaee, Peyman Yadmellat

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

Comments Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2022

2010.05796 2021-09-17 cs.CV cs.LG 70%

Pedestrian Trajectory Prediction with Convolutional Neural Networks

Simone Zamboni, Zekarias Tilahun Kefato, Sarunas Girdzijauskas, Noren Christoffer, Laura Dal Col

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

Comments 35 pages, 8 figures. This article is a the accepted manuscript submitted to Pattern Recognition Journal. Article DOI: https://doi.org/10.1016/j.patcog.2021.108252. This manuscript version is made available under the CC-BY-NC-ND 4.0 license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Journal ref Pattern Recognition, Volume 121, 2022, 108252, ISSN 0031-3203

2107.03663 2021-07-09 cs.RO 70%

Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Driving

Xiaoyu Mo, Yang Xing, Chen Lv

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

2106.14880 2021-06-29 cs.CV 70%

HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps

Lu Mi, Hang Zhao, Charlie Nash, Xiaohan Jin, Jiyang Gao, Chen Sun, Cordelia Schmid, Nir Shavit, Yuning Chai, Dragomir Anguelov

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

2106.03836 2021-06-08 cs.RO cs.SY eess.SY 70%

Tunable Trajectory Planner Using G3 Curves

Alexander Botros, Stephen L. Smith

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

Comments 13 pages, 11 figures, submitted to IEEE Transactions on Intelligent Vehicles

2011.03139 2021-03-29 cs.CV 70%

Ellipse Loss for Scene-Compliant Motion Prediction

Henggang Cui, Hoda Shajari, Sai Yalamanchi, Nemanja Djuric

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

Comments Henggang Cui and Hoda Shajari contributed equally to this work. Accepted for publication at IEEE International Conference on Robotics and Automation (ICRA) 2021

2103.02733 2021-03-19 cs.RO cs.MA math.OC 70%

Resilient Active Information Acquisition with Teams of Robots

Brent Schlotfeldt, Vasileios Tzoumas, George J. Pappas

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

2102.06069 2021-02-12 cs.RO 70%

Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment

Matteo De Petrillo, Jared Beard, Yu Gu, Jason N. Gross

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

2009.11722 2020-09-25 cs.SE cs.AI cs.DC 70%

Cloud2Edge Elastic AI Framework for Prototyping and Deployment of AI Inference Engines in Autonomous Vehicles

Sorin Grigorescu, Tiberiu Cocias, Bogdan Trasnea, Andrea Margheri, Federico Lombardi, Leonardo Aniello

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

Comments 21 pages Published in Sensors: https://www.mdpi.com/1424-8220/20/19/5450

2006.11670 2020-06-23 cs.RO cs.LG 70%

Affordable Modular Autonomous Vehicle Development Platform

Benedict Quartey, G. Ayorkor Korsah

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

Comments ICAST 2018

Journal ref 2018 IEEE 7th International Conference on Adaptive Science & Technology (ICAST), Accra, 2018, pp. 1-8

2005.04255 2020-05-12 cs.CV 70%

STINet: Spatio-Temporal-Interactive Network for Pedestrian Detection and Trajectory Prediction

Zhishuai Zhang, Jiyang Gao, Junhua Mao, Yukai Liu, Dragomir Anguelov, Congcong Li

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

Journal ref CVPR 2020

1911.10298 2020-04-03 cs.LG cs.RO stat.ML 70%

CoverNet: Multimodal Behavior Prediction using Trajectory Sets

Tung Phan-Minh, Elena Corina Grigore, Freddy A. Boulton, Oscar Beijbom, Eric M. Wolff

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

1907.10148 2019-09-23 cs.CV cs.LG 70%

Conf-Net: Toward High-Confidence Dense 3D Point-Cloud with Error-Map Prediction

Hamid Hekmatian, Jingfu Jin, Samir Al-Stouhi

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

1802.07094 2018-02-21 cs.CV 70%

Camera-based vehicle velocity estimation from monocular video

Moritz Kampelmühler, Michael G. Müller, Christoph Feichtenhofer

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

Comments 8 pages, 5 figures, in CVWW2018

2511.06990 2026-08-14 eess.SY cs.SY 67%

Koopman-Based Dynamic Environment Prediction for Safe UAV Navigation

Vitor Bueno, Ali Azarbahram, Marcello Farina, Lorenzo Fagiano

专题命中规划控制：LiDAR(abstract)；trajectory planning(abstract)

Journal ref 2026 European Control Conference (ECC), IEEE

2607.19306 2026-07-22 cs.RO cs.AI cs.CV cs.SY eess.SY 新提交 67%

From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

从距离到轨迹：无人机的实时带符号距离函数映射与距离加速运动规划

Jason Stanley, Zhirui Dai, Qihao Qian, Tzu-Chin Ho, Tianxing Fan, Siddharth Saha, Christopher Barngrover, Ki Myung Brian Lee, Nikolay Atanasov

机构 * UC San Diego（加州大学圣地亚哥分校）； Shield AI（护盾人工智能公司）

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

AI总结研究针对无人机在杂乱环境中的自主飞行，提出围绕带符号距离函数协同设计映射与规划阶段。开发OREN重建SDF，Bubble$^\star$基于距离信息规划，减少碰撞检查。集成方法在四旋翼飞行器上实时导航，提升SDF估计并快速找到长轨迹。

Comments 25 pages, 10 figures, 5 tables

2607.17892 2026-07-21 math.OC 新提交 67%

Thermal management optimization of Battery Electric Vehicles via hierarchical NMPC with CMO-trained Neural Models

基于CMO训练的神经模型的分层NMPC对电池电动汽车进行热管理优化

Francesco Ripa, Diego Regruto, Pasquale Ceres, Christopher Strano

专题命中规划控制：BEV(abstract,abstract_cn)

AI总结研究电池电动汽车热管理优化问题，提出分层NMPC框架，上层平衡能耗与温度跟踪并转化为执行器命令序列，下层补偿干扰等，采用数据驱动神经网络模型，经高保真模拟器验证，相比基线策略能耗显著降低。

2607.00283 2026-07-02 cs.RO cs.AI cs.CV 新提交 67%

What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Models

隐藏之物至关重要：使用视觉语言模型识别规划关键性的被遮挡智能体

Amirhosein Chahe, Tyler Naes, Jovin D'sa, Faizan M. Tariq, Sangjae Bae, Lifeng Zhou, David Isele

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

AI总结提出利用视觉语言模型（VLM）识别对自车轨迹影响最大的被遮挡智能体，通过规划KL散度（PKL）度量进行排序，并微调VLM以提升性能，实验表明该方法比随机采样提升约30%。

Comments Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). 9 pages, 5 figures, 5 tables

1. 规划控制 4271 篇

Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment

PaaS: Planning as a Service for reactive driving in CARLA Leaderboard

Safe Planning in Dynamic Environments using Conformal Prediction

An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments

An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm

The Software Stack That Won the Formula Student Driverless Competition

Quantity over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data

A Sufficient Condition for Convex Hull Property in General Convex Spatio-Temporal Corridors

Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach

Design of a prototypical platform for autonomous and connected vehicles

Fast and Real-time End to End Control in Autonomous Racing Cars Through Representation Learning

A hierarchical behavior prediction framework at signalized intersections

How To Not Drive: Learning Driving Constraints from Demonstration

Pedestrian Trajectory Prediction with Convolutional Neural Networks

Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Driving

HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps

Tunable Trajectory Planner Using G3 Curves

Ellipse Loss for Scene-Compliant Motion Prediction

Resilient Active Information Acquisition with Teams of Robots

Search Planning of a UAV/UGV Team with Localization Uncertainty in a Subterranean Environment

Cloud2Edge Elastic AI Framework for Prototyping and Deployment of AI Inference Engines in Autonomous Vehicles

Affordable Modular Autonomous Vehicle Development Platform

STINet: Spatio-Temporal-Interactive Network for Pedestrian Detection and Trajectory Prediction

CoverNet: Multimodal Behavior Prediction using Trajectory Sets

Conf-Net: Toward High-Confidence Dense 3D Point-Cloud with Error-Map Prediction

Camera-based vehicle velocity estimation from monocular video

Koopman-Based Dynamic Environment Prediction for Safe UAV Navigation

From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

Thermal management optimization of Battery Electric Vehicles via hierarchical NMPC with CMO-trained Neural Models

What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Models