自动驾驶

Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control

Osama Al Sheikh Ali, Sotiris Koutsoftas, Ze Zhang, Knut Akesson, Emmanuel Dean

机构 * Electrical Engineering, Chalmers University of Technology（电子工程系，查尔姆斯理工大学） 纠错

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

Comments This paper has been accepted by IEEE SII 2026

ViTE: Virtual Graph Trajectory Expert Router for Pedestrian Trajectory Prediction

Ruochen Li, Zhanxing Zhu, Tanqiu Qiao, Hubert P. H. Shum

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

Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning

Iman Askari, Ali Vaziri, Xuemin Tu, Shen Zeng, Huazhen Fang

机构 * Department of Mechanical Engineering, University of Kansas（机械工程系，堪萨斯大学） ； Department of Mathematics, University of Kansas（数学系，堪萨斯大学） ； Department of Electrical & Systems Engineering, Washington University in St. Louis（电气与系统工程系，华盛顿大学圣路易斯分校） 纠错

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

Towards Obstacle-Avoiding Control of Planar Snake Robots Exploring Neuro-Evolution of Augmenting Topologies

Advik Sinha, Akshay Arjun, Abhijit Das, Joyjit Mukherjee

机构 * Department of Computer Science and Information Science, BITS Pilani Hyderabad Campus（计算机科学与信息科学系，比斯潘学院海得拉巴校区） ； Department of Electrical and Electronics Engineering, BITS Pilani Hyderabad Campus（电气与电子工程系，比斯潘学院海得拉巴校区） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments 9 pages, 6 figures

Your Ride, Your Rules: Psychology and Cognition Enabled Automated Driving Systems

Zhipeng Bao, Qianwen Li

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

Comments 32 pages, one colummns

Safe Planning in Interactive Environments via Iterative Policy Updates and Adversarially Robust Conformal Prediction

Omid Mirzaeedodangeh, Eliot Shekhtman, Nikolai Matni, Lars Lindemann

机构 * Automatic Control Laboratory (IfA)（自动控制实验室） 纠错

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

LongComp: Long-Tail Compositional Zero-Shot Generalization for Robust Trajectory Prediction

Benjamin Stoler, Jonathan Francis, Jean Oh

机构 * School of Computer Science, Carnegie Mellon University（计算机科学系，卡内基梅隆大学） ； Stack AV Research Internship（Stack AV研究实习） ； Bosch Center for Artificial Intelligence（博世人工智能中心） 纠错

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

Comments 8 pages, 3 figures

Predicting Trust Dynamics with Dynamic SEM in Human-AI Cooperation

Sota Kaneko, Seiji Yamada

机构 * Department of Informatics, The Graduate University for Advanced Studies, SOKENDAI, Tokyo, Japan（信息学系，高级研究大学，SOKENDAI，东京，日本） ； Digital Content and Media Sciences Research Division, National Institute of Informatics, Tokyo, Japan（数字内容与媒体科学研究部，信息机构国家，东京，日本） 纠错

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

Journal ref IEEE Access, vol. 13, pp. 190701-190711, 2025

Out-of-Distribution Generalization with a SPARC: Racing 100 Unseen Vehicles with a Single Policy

Bram Grooten, Patrick MacAlpine, Kaushik Subramanian, Peter Stone, Peter R. Wurman

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

Comments Accepted as an oral at AAAI 2026. For code and videos, please see https://github.com/bramgrooten/sparc

QP Chaser: Polynomial Trajectory Generation for Autonomous Aerial Tracking

Yunwoo Lee, Jungwon Park, Seungwoo Jung, Boseong Jeon, Dahyun Oh, H. Jin Kim

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； Department of Mechanical System Design Engineering, Seoul National University of Science and Technology（首尔科学技术大学机械系统设计工程系） ； Department of Aerospace Engineering, Seoul National University（首尔国立大学航空航天工程系） ； Samsung Research, Samsung Electronics（三星电子三星研究） 纠错

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

Comments 18 pages, 16 figures

Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot

Cong Wen, Yunfei Li, Kexin Liu, Yixin Qiu, Xuanhong Liao, Tianyu Wang, Dingchuan Liu, Tao Zhang, Ximin Lyu

机构 * School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院） ； Direct Drive Technology Limited（直接驱动技术有限公司） ； Suzhou Nuclear Power Research Institute Co., Ltd（苏州核电研究所有限公司） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments 8 pages, 8 figures

Dynamic Model Selection for Trajectory Prediction via Pairwise Ranking and Meta-Features

Lu Bowen

机构 * Lu Bowen（路 Bowen） 纠错

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

iKap: Kinematics-aware Planning with Imperative Learning

Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Zitong Zhan, Shaoshu Su, Junyi Geng, Chen Wang

机构 * Spatial AI & Robotics (SAIR) Lab, University at Buffalo, USA（空间人工智能与机器人实验室，布法罗大学） ； Carnegie Mellon University, USA（卡内基梅隆大学） ； Pennsylvania State University, USA（宾夕法尼亚州立大学） 纠错

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

Comments 6 pages, 6 figures

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA)

Adaptive Trajectory Refinement for Optimization-based Local Planning in Narrow Passages

Hahjin Lee, Young J. Kim

机构 * Department of Computer Science and Engineering（计算机科学与工程系） 纠错

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

Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning

Kazuki Numazato, Keiichiro Kan, Masaki Kitagawa, Yunong Li, Johannes Kubel, Moju Zhao

机构 * Department of Mechanical Engineering, The University of Tokyo（机械工程系，东京大学） 纠错

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

Comments 8 pages, 14 figures

Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths

Klaus Zauner, Hubert Gattringer, Andreas Mueller

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

Journal ref Advances in Service and Industrial Robotics. RAAD 2024. Mechanisms and Machine Science, vol. 157, pp. 411-419

Learning to Drive Safely with Hybrid Options

Bram De Cooman, Johan Suykens

机构 * STADIUS Center for Dynamical Systems, Signal Processing and Data Analytics, Department of Electrical Engineering (ESAT), KU Leuven（STADIUS 动力学系统、信号处理与数据分析中心，电气工程系（ESAT），KU 列文大学） 纠错

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

Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation

Baozhe Zhang, Xinwei Chen, Qingcheng Chen, Chao Xu, Fei Gao, Yanjun Cao

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 7, July 2025)

Payload trajectory tracking control for aerial transportation systems with cable length online optimization

Hai Yu, Zhichao Yang, Wei He, Jianda Han, Yongchun Fang, Xiao Liang

机构 * Institute of Robotics and Automatic Information System, College of Artificial Intelligence（机器人与自动化信息系统研究所，人工智能学院） ； Tianjin Key Laboratory of Intelligent Robotics, Nankai University（天津智能机器人重点实验室，南开大学） ； Institute of Intelligence Technology and Robotic Systems（智能技术与机器人系统研究所） ； Shenzhen Research Institute of Nankai University（南开大学深圳研究院） 纠错

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

Planning Oriented Integrated Sensing and Communication

Xibin Jin, Guoliang Li, Shuai Wang, Fan Liu, Miaowen Wen, Huseyin Arslan, Derrick Wing Kwan Ng, Chengzhong Xu

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

Fast Monte Carlo Tree Diffusion: 100x Speedup via Parallel Sparse Planning

Jaesik Yoon, Hyeonseo Cho, Yoshua Bengio, Sungjin Ahn

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

Comments 20 pages, 6 figures, NeurIPS 25 Spotlight

PathFormer: A Transformer with 3D Grid Constraints for Digital Twin Robot-Arm Trajectory Generation

Ahmed Alanazi, Duy Ho, Yugyung Lee

机构 * Department of Computer Science, University of Missouri–Kansas City (UMKC)（密苏里大学哥伦比亚分校计算机科学系） ； Department of Computer Science, California State University, Fullerton（加州州立大学富尔顿分校计算机科学系） 纠错

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

Comments 8 pages, 7 figures, 7 tables

SHRUMS: Sensor Hallucination for Real-time Underwater Motion Planning with a Compact 3D Sonar

Susheel Vadakkekuruppath, Herman B. Amundsen, Jason M. O'Kane, Marios Xanthidis

机构 * Department of Computer Science and Engineering, Texas A&M University（计算机科学与工程系，德克萨斯A&M大学） ； Aquaculture Robotics and Automation, SINTEF Ocean（水产养殖机器人与自动化，SINTEF海洋） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments 8 pages, 5 figures

Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding, Zhaohan Chen, Tao Yang, Wenzeng Zhang

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

Comments 6 pages, 9 figures, Accepted author manuscript for IEEE CASE 2025

Journal ref 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), Los Angeles, CA, USA, 2025, pp. 3441-3446

Biased-Attention Guided Risk Prediction for Safe Decision-Making at Unsignalized Intersections

Chengyang Dong, Nan Guo

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

Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization

Javed Ahmad, Federico Dassiè, Selene Frascella, Gabriele Marchello, Ferdinando Cannella, Arianna Traviglia

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

Comments The author has decided to withdraw this version to verify and update authorization details for certain image materials obtained from a collaborating institution. The issue is administrative and does not affect the technical content of the work. A revised version will be submitted once the verification process is complete

Smooth Model Predictive Path Integral Control without Smoothing

Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee

机构 * Ground Technology Research Institute, Agency for Defense Development（国防发展机构地面技术研究所） 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (and IROS 2022). Project page: https://www.taekyung.me/smppi

Efficient Navigation in Unknown Indoor Environments with Vision-Language Models

D. Schwartz, K. Kondo, J. P. How

机构 * ETH Zürich（苏黎世联邦理工学院） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

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

Comments 7 pages, 4 figures, accepted to the OWN workshop at IROS 2025

Can Large Language Models Autoformalize Kinematics?

Aditi Kabra, Jonathan Laurent, Sagar Bharadwaj, Ruben Martins, Stefan Mitsch, André Platzer

机构 * Carnegie Mellon University（卡内基梅隆大学） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） ； DePaul University（德保罗大学） 纠错

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

Journal ref Proc. 25th International Conference on Formal Methods in Computer-Aided Design (FMCAD), pp. 78-83, TU Wien Academic Press, 2025

Diffusion^2: Dual Diffusion Model with Uncertainty-Aware Adaptive Noise for Momentary Trajectory Prediction

Yuhao Luo, Yuang Zhang, Kehua Chen, Xinyu Zheng, Shucheng Zhang, Sikai Chen, Yinhai Wang

机构 * Civil and Environmental Engineering Department, University of Wisconsin-Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； Civil and Environmental Engineering Department, University of Washington（华盛顿大学土木与环境工程系） ； College of Transportation, Tongji University（同济大学交通运输学院） 纠错

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

Comments 13 pages, 7 figures, 3 tables