4 papers · 1 filter
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…
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…
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…