4 citations · 5 across the 9 of their papers we have counts for
5 papers · 1 filter
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch +4
Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and eff…
Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
Bojan Derajić, Mohamed-Khalil Bouzidi, Sebastian Bernhard +1
In this paper, we propose a hybrid MPC local planner that uses a learning-based approximation of a time-varying safe set, derived from local observations and applied as the MPC ter…
Model Predictive Control for Crowd Navigation via Learning-Based Trajectory Prediction
Mohamed Parvez Aslam, Bojan Derajic, Mohamed-Khalil Bouzidi +2
Safe navigation in pedestrian-rich environments remains a key challenge for autonomous robots. This work evaluates the integration of a deep learning-based Social-Implicit (SI) ped…
Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments
Bojan Derajić, Mohamed-Khalil Bouzidi, Sebastian Bernhard +1
This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representati…
Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control
Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring +1
In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion…