6 papers
Vessel Trajectory Prediction using COLREGs-aware Optimal Planning
David Kaikkonen, Fredrik Ljungberg, Erik Frisk
This paper presents a trajectory prediction method for marine vessels based on optimal planning. Crude initial trajectories respecting static obstacles are first generated using A*…
Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddings
Theodor Westny, David Axelsson, Björn Olofsson +1
The growing availability of trajectory datasets has fueled major advances in data-driven motion prediction. Yet, models trained on one dataset often fail to generalize beyond their…
Behavior-Aware Online Prediction of Obstacle Occupancy using Zonotopes
Alvaro Carrizosa-Rendon, Jian Zhou, Erik Frisk +2
Predicting the motion of surrounding vehicles is key to safe autonomous driving, especially in unstructured environments without prior information. This paper proposes a novel onli…
Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasets
Theodor Westny, Björn Olofsson, Erik Frisk
The availability of high-quality datasets is crucial for the development of behavior prediction algorithms in autonomous vehicles. This paper highlights the need to standardize the…
Robust Predictive Motion Planning by Learning Obstacle Uncertainty
Jian Zhou, Yulong Gao, Ola Johansson +2
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in pred…
Uncertainty-Aware Decision-Making and Planning for Autonomous Forced Merging
Jian Zhou, Yulong Gao, Björn Olofsson +1
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertai…