3 papers
eess.SY2025
Safe Driving in Occluded Environments
Zhuoyuan Wang, Tongyao Jia, Pharuj Rajborirug +5
Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invar…
cs.RO2025
LVLM-MPC Collaboration for Autonomous Driving: A Safety-Aware and Task-Scalable Control Architecture
Kazuki Atsuta, Kohei Honda, Hiroyuki Okuda +1
This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomou…
cs.RO2025
Real-Time Model Predictive Control of Vehicles with Convex-Polygon-Aware Collision Avoidance in Tight Spaces
Haruki Kojima, Kohei Honda, Hiroyuki Okuda +1
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model…