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cs.RO2025
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Wule Mao, Zhouheng Li, Yunhao Luo +2
Achieving safe, efficient, and kinematically feasible planning in dynamic environments remains a significant challenge, as planners must simultaneously handle moving obstacles, sen…
cs.RO2025
FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions
Cheng Hu, Jihao Huang, Wule Mao +7
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance run…
cs.RO2024
An Overtaking Trajectory Planning Framework Based on Spatio-temporal Topology and Reachable Set Analysis Ensuring Time Efficiency
Wule Mao, Zhouheng Li, Entao Sun +2
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutio…