2 papers
cs.RO2024
A Joint Prediction Method of Multi-Agent to Reduce Collision Rate
Mingyi Wang, Hongqun Zou, Yifan Liu +2
Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, bu…
cs.RO2024
SOMTP: Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics
Yifan Liu, You Wang, Guang Li
Model Predictive Control (MPC)-based trajectory planning has been widely used in robotics, and incorporating Control Barrier Function (CBF) constraints into MPC can greatly improve…