13 citations · 26 across the 12 of their papers we have counts for
Showing 2023 · cs.ROShow all
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cs.RO2023
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…
cs.RO2023
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…
cs.RO2023★ 13 cited
Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic
Lei Zheng, Rui Yang, Zengqi Peng +2
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a compu…