自动驾驶

Toward Safety-First Human-Like Decision Making for Autonomous Vehicles in Time-Varying Traffic Flow

Xiao Wang, Junru Yu, Jun Huang, Qiong Wu, Ljubo Vacic, Changyin Sun

机构 * University Scientific Research Program of Anhui Province（安徽省大学科学研究计划） ； National Natural Science Foundation of China（中国国家自然科学基金） 纠错

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

Observability-Aware Active Calibration of Multi-Sensor Extrinsics for Ground Robots via Online Trajectory Optimization

Jiang Wang, Yaozhong Kang, Linya Fu, Kazuhiro Nakadai, He Kong

机构 * Shenzhen Key Laboratory of Control Theory and Intelligent Systems（深圳控制理论与智能系统重点实验室） ； Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology（广东省全驱动系统控制理论与技术省级重点实验室） ； Southern University of Science and Technology（南方科技大学） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments Accepted and to appear in the IEEE Sensors Journal

Revealing the Challenges of Sim-to-Real Transfer in Model-Based Reinforcement Learning via Latent Space Modeling

Zhilin Lin, Shiliang Sun

机构 * School of Automation and Intelligent Sensing（自动化与智能感知学院） 纠错

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

Efficient Estimation of Relaxed Model Parameters for Robust UAV Trajectory Optimization

Derek Fan, David A. Copp

机构 * Department of Mechanical Engineering Carnegie Mellon University（机械工程系卡内基梅隆大学） 纠错

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

Comments 8 pages, 5 figures. Published in IEEE Sustech 2025, see https://ieeexplore.ieee.org/document/11025659

Journal ref 2025 IEEE Conference on Technologies for Sustainability (SusTech), Los Angeles, CA, USA, 2025, pp. 1-8

Convex Markov Games: A New Frontier for Multi-Agent Reinforcement Learning

Ian Gemp, Andreas Haupt, Luke Marris, Siqi Liu, Georgios Piliouras

机构 * College of Computing, MIT, Cambridge, MA, USA（麻省理工学院计算机学院） ； Google DeepMind, London, UK（谷歌深Mind） 纠错

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

Comments Published at ICML 2025

Embedded Acoustic Intelligence for Automotive Systems

Renjith Rajagopal, Peter Winzell, Sladjana Strbac, Konstantin Lindström, Petter Hörling, Faisal Kohestani, Niloofar Mehrzad

机构 * Volvo Car Corporation（沃尔沃汽车公司） ； Chalmers University of Technology（查尔姆斯理工大学） 纠错

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

Trailblazer: Learning offroad costmaps for long range planning

Kasi Viswanath, Felix Sanchez, Timothy Overbye, Jason M. Gregory, Srikanth Saripalli

机构 * DEVCOM Army Research laboratory（陆军研究实验室） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Predictability Awareness for Efficient and Robust Multi-Agent Coordination

Roman Chiva Gil, Daniel Jarne Ornia, Khaled A. Mustafa, Javier Alonso Mora

机构 * Delft University Of Technology（代尔夫特理工大学） ； University of Oxford（牛津大学） 纠错

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

Comments Videos and other additional materials can be found at https://romanchiva.github.io/PAProjectPage/

RF-Source Seeking with Obstacle Avoidance using Real-time Modified Artificial Potential Fields in Unknown Environments

Shahid Mohammad Mulla, Aryan Kanakapudi, Lakshmi Narasimhan, Anuj Tiwari

机构 * Indian Institute of Technology Madras（印度理工学院马德拉斯学院） 纠错

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

Comments 14 pages, 16 figures, 1 table, shorter version under review for IEEE ICCAS 2025 conference

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments

Chad R Samuelson, Timothy W McLain, Joshua G Mangelson

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

Comments Presented at the 2025 IEEE ICRA Workshop on Field Robotics

Self driving algorithm for an active four wheel drive racecar

Gergely Bari, Laszlo Palkovics

机构 * HUMDA Lab nonprofit Kft.（HUMDA实验室非营利公司） ； Széchenyi István University（塞切尼伊斯特万大学） 纠错

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

Real-Time LPV-Based Non-Linear Model Predictive Control for Robust Trajectory Tracking in Autonomous Vehicles

Nitish Kumar, Rajalakshmi Pachamuthu

机构 * Department of Electrical Engineering, Indian Institute of Technology Hyderabad (IITH)（电子工程系，印度理工学院海得拉巴（IITH）） 纠错

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

Autonomous Vehicle Lateral Control Using Deep Reinforcement Learning with MPC-PID Demonstration

Chengdong Wu, Sven Kirchner, Nils Purschke, Alois C. Knoll

机构 * Technical University of Munich（慕尼黑技术大学） 纠错

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

Comments 8 pages; Accepted for publication at the 36th IEEE Intelligent Vehicles Symposium (IV), Cluj-Napoca, Romania, June 22-25, 2025

Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles

Jose Leopoldo Contreras, Ola Shorinwa, Mac Schwager

机构 * Department of Aeronautics and Astronautics, Stanford University（航空航天工程系，斯坦福大学） 纠错

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

Direct Kinematics, Inverse Kinematics, and Motion Planning of 1-DoF Rational Linkages

Daniel Huczala, Andreas Mair, Tomas Postulka

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

Comments This is the final published version of the article, available as open access in Mechanism and Machine Theory, Volume 213, 2025. DOI: 10.1016/j.mechmachtheory.2025.106074. Licensed under CC BY license

Journal ref Mechanism and Machine Theory Mechanism and Machine Theory Mechanism and Machine Theory, Volume 213, October 2025, 106074

Lazy Heuristic Search for Solving POMDPs with Expensive-to-Compute Belief Transitions

Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments Accepted for publication at The 18th International Symposium on Combinatorial Search (SOCS 2025)

DTR: Delaunay Triangulation-based Racing for Scaled Autonomous Racing

Luca Tognoni, Neil Reichlin, Edoardo Ghignone, Nicolas Baumann, Steven Marty, Liam Boyle, Michele Magno

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Impromptu VLA: Open Weights and Open Data for Driving Vision-Language-Action Models

Haohan Chi, Huan-ang Gao, Ziming Liu, Jianing Liu, Chenyu Liu, Jinwei Li, Kaisen Yang, Yangcheng Yu, Zeda Wang, Wenyi Li, Leichen Wang, Xingtao Hu, Hao Sun, Hang Zhao, Hao Zhao

机构 * AIR, Tsinghua University（清华大學人工智能研究院） ； Bosch Research（博世研究） ； IIIS, Tsinghua University（清华大學人工智能研究院） 纠错

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

Comments Project page: https://github.com/ahydchh/Impromptu-VLA

UrbanCraft: Urban View Extrapolation via Hierarchical Sem-Geometric Priors

Tianhang Wang, Fan Lu, Sanqing Qu, Guo Yu, Shihang Du, Ya Wu, Yuan Huang, Guang Chen

机构 * IEEE Publication Technology Group（IEEE出版技术组） 纠错

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

Risk-Informed Diffusion Transformer for Long-Tail Trajectory Prediction in the Crash Scenario

Junlan Chen, Pei Liu, Zihao Zhang, Hongyi Zhao, Yufei Ji, Ziyuan Pu

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

LLA-MPC: Fast Adaptive Control for Autonomous Racing

Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng, John M. Dolan

机构 * Electrical & Computer Engineering Department, Carnegie Mellon University（卡内基梅隆大学电气与计算机工程系） ； School of Electrical and Computer Engineering, Georgia Institute of Technology（佐治亚理工学院电气与计算机工程学院） ； Mechanical Engineering Department, Carnegie Mellon University（卡内基梅隆大学机械工程系） ； Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

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

SafeMVDrive: Multi-view Safety-Critical Driving Video Synthesis in the Real World Domain

Jiawei Zhou, Linye Lyu, Zhuotao Tian, Cheng Zhuo, Yu Li

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

Knowledge Integration Strategies in Autonomous Vehicle Prediction and Planning: A Comprehensive Survey

Kumar Manas, Adrian Paschke

机构 * Freie Universität Berlin（柏林自由大学） ； Continental Automotive Technologies GmbH（大陆汽车技术有限公司） ； Fraunhofer FOKUS Berlin（弗劳恩霍夫研究所柏林） 纠错

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

Comments Accepted for publication in Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Cluj-Napoca - Romania, 22-25 June 2025

Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution

Ze Wang, Zhenyu Gao, Jingang Qu, Pascal Morin

机构 * Sorbonne Universite（索邦大学） ； CNRS（法国国家科学研究中心） ； UMR 7222（7222号研究单位） ； Institut des Systemes Intelligents et de Robotique - ISIR（智能系统与机器人研究所） ； Isir.upmc.fr（ISIR-巴黎大学） 纠错

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

Semantically-driven Deep Reinforcement Learning for Inspection Path Planning

Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis

机构 * Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU)（工程 cybernetics 系，挪威科学与技术大学） 纠错

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

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

Local Minima Prediction using Dynamic Bayesian Filtering for UGV Navigation in Unstructured Environments

Seung Hun Lee, Wonse Jo, Lionel P. Robert, Dawn M. Tilbury

机构 * Robotics（机器人学） ； Electrical Engineering and Computer Science（电气工程与计算机科学） ； School of Information（信息学院） ； Mechanical Engineering（机械工程） 纠错

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

Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control

Xiao Li, Tianhao Wei, Changliu Liu, Anouck Girard, Ilya Kolmanovsky

机构 * Department of Aerospace Engineering, University of Michigan（密歇根大学航空航天工程系） ； Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

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

Provably safe and human-like car-following behaviors: Part 2. A parsimonious multi-phase model with projected braking

Wen-Long Jin

机构 * Department of Civil and Environmental Engineering, California Institute for Telecommunications and Information Technology, Institute of Transportation Studies（土木与环境工程系、电信与信息科技研究院、交通研究学院） 纠错

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

Comments 27 pages, 4 figures

Provably safe and human-like car-following behaviors: Part 1. Analysis of phases and dynamics in standard models

Wen-Long Jin

机构 * Department of Civil and Environmental Engineering, California Institute for Telecommunications and Information Technology, Institute of Transportation Studies（土木与环境工程系、电信与信息科技研究院、交通研究学院） 纠错

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

Comments 29 pages, 7 figures

Strategic Application of AIGC for UAV Trajectory Design: A Channel Knowledge Map Approach

Chiya Zhang, Ting Wang, Rubing Han, Yuanxiang Gong

机构 * School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen, China（电子与信息工程学院，哈尔滨工业大学，深圳） 纠错

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