3 papers
cs.RO2026
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…
cs.RO2025
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Wule Mao, Zhouheng Li, Yunhao Luo +3
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…