13 citations · 18 across the 7 of their papers we have counts for
7 papers
Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving
Lei Zheng, Rui Yang, Minzhe Zheng +3
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-awa…
FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions
Yulin Li, Zhicheng Song, Chunxin Zheng +4
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and u…
Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization
Lei Zheng, Rui Yang, Minzhe Zheng +2
Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel…
Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming
Yulin Li, Chunxin Zheng, Kai Chen +4
In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by p…
Incremental Bayesian Learning for Fail-Operational Control in Autonomous Driving
Lei Zheng, Rui Yang, Zengqi Peng +3
Abrupt maneuvers by surrounding vehicles (SVs) can typically lead to safety concerns and affect the task efficiency of the ego vehicle (EV), especially with model uncertainties ste…
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…
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…