2 papers
cs.RO2026
Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering
Zekun Xing, Ramkrishna Chaudhari, Marion Leibold +2
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-cas…
cs.RO2025
Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis
Yuanfei Lin, Zekun Xing, Xuyuan Han +1
Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is co…