5 papers · 1 filter
PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving
Kang Ding, Zhigui Lin, Hongsong Wang +5
This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of-Planners. Existing planners usually aggregate heterogeneous scene t…
CoINS: Counterfactual Interactive Navigation via Skill-Aware VLM
Kangjie Zhou, Zhejia Wen, Zhiyong Zhuo +9
Recent Vision-Language Models (VLMs) have demonstrated significant potential in robotic planning. However, they typically function as semantic reasoners, lacking an intrinsic under…
SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer
Kang Ding, Chunxuan Jiao, Yunze Hu +4
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issu…
SwarmPRM: Probabilistic Roadmap Motion Planning for Large-Scale Swarm Robotic Systems
Yunze Hu, Xuru Yang, Kangjie Zhou +5
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, tradition…
Risk-Aware Non-Myopic Motion Planner for Large-Scale Robotic Swarm Using CVaR Constraints
Xuru Yang, Yunze Hu, Han Gao +5
Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic sys…