1 citations · 4 across the 21 of their papers we have counts for
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Geometry-Aware Safety-Critical Local Reactive Controller for Robot Navigation in Unknown and Cluttered Environments
Yulin Li, Xindong Tang, Kai Chen +3
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task…
Real-Time Parallel Trajectory Optimization with Spatiotemporal Safety Constraints for Autonomous Driving in Congested Traffic
Lei Zheng, Rui Yang, Zengqi Peng +3
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffi…
Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance
Haichao Liu, Kai Chen, Yulin Li +3
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution…
Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles
Zhenmin Huang, Haichao Liu, Shaojie Shen +1
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulti…