3 papers
cs.RO2026
Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons
Long Kiu Chung, David Isele, Toktam Mohammadnejad +4
Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environments. This issue is especially prominent in autonomous valet parking…
cs.RO2026
N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme
Yifan Xue, Toktam Mohammadnejad, Faizan M Tariq +5
Autonomous parking requires efficient path planning that ensures kinematic feasibility and collision avoidance in constrained environments. Hybrid A* is widely used but computation…
cs.RO2025
SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging
Toktam Mohammadnejad, Jovin D'sa, Behdad Chalaki +2
Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuve…