20 citations · 48 across the 21 of their papers we have counts for
7 papers · 1 filter
P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving
Qiao Sun, Xin Huang, Brian C. Williams +1
Motion prediction is crucial in enabling safe motion planning for autonomous vehicles in interactive scenarios. It allows the planner to identify potential conflicts with other tra…
InterSim: Interactive Traffic Simulation via Explicit Relation Modeling
Qiao Sun, Xin Huang, Brian C. Williams +1
Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existi…
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
Majid Khonji, Rashid Alyassi, Wolfgang Merkt +5
In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existin…
Hierarchical Constrained Stochastic Shortest Path Planning via Cost Budget Allocation
Sungkweon Hong, Brian C. Williams
Stochastic sequential decision making often requires hierarchical structure in the problem where each high-level action should be further planned with primitive states and actions.…
M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction
Qiao Sun, Xin Huang, Junru Gu +2
Predicting future motions of road participants is an important task for driving autonomously in urban scenes. Existing models excel at predicting marginal trajectories for single a…
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
Weiqiao Han, Ashkan Jasour, Brian Williams
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has…