自动驾驶

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

Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots

Zhichao Liu, Jingzong Zhou, Konstantinos Karydis

机构 * Institute for Integrative & Innovative Research (I 3 R), University of Arkansas, USA（整合与创新研究所（I 3 R）、亚拉巴马大学） ； Department of Electrical and Computer Engineering, University of California, Riverside, USA（电气与计算机工程系、加州大学河滨分校） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments 7 pages, 8 figures. Accepted by ICRA 2025

Estimation-Aware Trajectory Optimization with Set-Valued Measurement Uncertainties

Aditya Deole, Mehran Mesbahi

机构 * Department of Aeronautics and Astronautics（航空与航天系） ； University of Washington（华盛顿大学） 纠错

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

Comments 40 pages, 9 figures

Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization

Janik Kaden, Maximilian Hilger, Tim Schreiter, Marius Schaab, Thomas Graichen, Andrey Rudenko, Ulrich Heinkel, Achim J. Lilienthal

机构 * Chemnitz University of Technology, Chair for Circuit and System Design（Chemnitz技术大学，电路与系统设计教研室） ； Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich（慕尼黑机器人与智能机器研究所（MIRMI），慕尼黑技术大学） ； Center for Applied Autonomous Sensor Systems (AASS)（应用自主传感器系统中心） ； Pinpoint GmbH（Pinpoint公司） ； Bosch Corporate Research（博世企业研究） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments accepted for presentation at the 7th Workshop on Long-term Human Motion Prediction (LHMP) at International Conference on Robotics and Automation (ICRA) 2025

Human-in-the-Loop AI for HVAC Management Enhancing Comfort and Energy Efficiency

Xinyu Liang, Frits de Nijs, Buser Say, Hao Wang

机构 * Monash University（墨尔本大学） ； OPTIMA 纠错

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

Comments ACM e-Energy 2025

Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments

Alexander Langmann, Levent Ögretmen, Frederik Werner, Johannes Betz

机构 * Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich（自主车辆系统教授职位，技术大学慕尼黑工程与设计学院，技术大学慕尼黑） ； Chair of Automatic Control, Technical University of Munich（自动控制教授职位，技术大学慕尼黑） ； Institute of Automotive Technology, TUM School of Engineering and Design, Technical University of Munich（汽车技术研究所，技术大学慕尼黑工程与设计学院，技术大学慕尼黑） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所（MIRMI）） 纠错

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

Comments 8 Pages, accepted to be published at the the IEEE Intelligent Vehicles Symposium (IV 2025), June 22-25 in Cluj, Romania

An End-to-End Framework for Optimizing Foot Trajectory and Force in Dry Adhesion Legged Wall-Climbing Robots

Jichun Xiao, Jiawei Nie, Lina Hao, Zhi Li

机构 * The School of Mechanical Engineering and Automation, Northeastern University（机械工程与自动化学院，东北大学） ； The State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University（过程工业综合自动化重点实验室，东北大学） 纠错

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

Towards Cognitive Collaborative Robots: Semantic-Level Integration and Explainable Control for Human-Centric Cooperation

Jaehong Oh

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

Comments Preprint, 16 pages, 10 figures, 9 tables

Artificial Behavior Intelligence: Technology, Challenges, and Future Directions

Kanghyun Jo, Jehwan Choi, Kwanho Kim, Seongmin Kim, Duy-Linh Nguyen, Xuan-Thuy Vo, Adri Priadana, Tien-Dat Tran

机构 * Department of Electrical, Electronic and Computer Engineering University of Ulsan（电气电子与计算机工程系韩国釜山大学） 纠错

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

Comments 9 pages, 6 figures, Pre-print for IWIS2025

DyTTP: Trajectory Prediction with Normalization-Free Transformers

JianLin Zhu, HongKuo Niu

机构 * Shanghai Institute of Technology（上海理工大学） 纠错

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

Optimal Design of a Walking Robot: Analytical, Numerical, and Machine Learning Methods for Multicriteria Synthesis

Arman Ibrayeva, Batyrkhan Omarov

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Provably-Safe, Online System Identification

Bohao Zhang, Zichang Zhou, Ram Vasudevan

机构 * Robotics Institute, University of Michigan（密歇根大学机器人研究所） 纠错

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

Automated Parking Trajectory Generation Using Deep Reinforcement Learning

Zheyu Zhang, Yutong Luo, Yongzhou Chen, Haopeng Zhao, Zhichao Ma, Hao Liu

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

Design, Contact Modeling, and Collision-inclusive Planning of a Dual-stiffness Aerial RoboT (DART)

Yogesh Kumar, Karishma Patnaik, Wenlong Zhang

机构 * School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University（制造系统与网络学院，伊拉·A·福尔顿工程学院，亚利桑那州立大学） 纠错

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

Comments Accepted for publication at IEEE ICRA 2025

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr

机构 * ICON Lab and Hybrid Robotics Lab , University of California Berkeley（ICON实验室和混合机器人实验室，加州大学伯克利分校） 纠错

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

Journal ref Robotics: Science and Systems (RSS) 2025