5 papers · 1 filter
Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles
Wenru Liu, Haichao Liu, Lei Zheng +2
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning ta…
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting
Yusen Xie, Zhenmin Huang, Jin Wu +1
In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing m…
A Universal Multi-Vehicle Cooperative Decision-Making Approach in Structured Roads by Mixed-Integer Potential Game
Chengzhen Meng, Zhenmin Huang, Jun Ma
Due to the intricate of real-world road topologies and the inherent complexity of autonomous vehicles, cooperative decision-making for multiple connected autonomous vehicles (CAVs)…
Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach
Zhenmin Huang, Tong Li, Shaojie Shen +1
Modeling the interaction between traffic agents is a key issue in designing safe and non-conservative maneuvers in autonomous driving. This problem can be challenging when multi-mo…
LMMCoDrive: Cooperative Driving with Large Multimodal Model
Haichao Liu, Ruoyu Yao, Zhenmin Huang +2
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a…