Safe occlusion-aware autonomous driving via game-theoretic active perception
Autonomous vehicles interacting with other traffic participants heavily rely on the perception
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
Toward safer autonomous vehicles: Occlusion-aware trajectory planning to minimize risky behavior
Autonomous vehicles face numerous challenges to ensure safe operation in unpredictable
and hazardous conditions. The autonomous driving environment is characterized by high …
and hazardous conditions. The autonomous driving environment is characterized by high …
TDR-OBCA: A reliable planner for autonomous driving in free-space environment
This paper presents an optimization-based collision avoidance trajectory generation method
for autonomous driving in free-space environments, with enhanced robustness, driving …
for autonomous driving in free-space environments, with enhanced robustness, driving …
Learning interaction-aware guidance policies for motion planning in dense traffic scenarios
B Brito, A Agarwal, J Alonso-Mora - arXiv preprint arXiv:2107.04538, 2021 - arxiv.org
Autonomous navigation in dense traffic scenarios remains challenging for autonomous
vehicles (AVs) because the intentions of other drivers are not directly observable and AVs …
vehicles (AVs) because the intentions of other drivers are not directly observable and AVs …
On infusing reachability-based safety assurance within probabilistic planning frameworks for human-robot vehicle interactions
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics
for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring …
for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring …
Risk assessment and planning with bidirectional reachability for autonomous driving
MY Yu, R Vasudevan… - 2020 IEEE International …, 2020 - ieeexplore.ieee.org
Risk assessment to quantify the danger associated with taking a certain action is critical to
navigating safely through crowded urban environments during autonomous driving. Risk …
navigating safely through crowded urban environments during autonomous driving. Risk …
What lies in the shadows? Safe and computation-aware motion planning for autonomous vehicles using intent-aware dynamic shadow regions
One of the challenges of developing autonomous vehicles is planning in an inhabited
environment under sensing uncertainty as well as limited perception and computational …
environment under sensing uncertainty as well as limited perception and computational …
Prediction-based reachability for collision avoidance in autonomous driving
Safety is an important topic in autonomous driving since any collision may cause serious
injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal …
injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal …
Plop: Probabilistic polynomial objects trajectory planning for autonomous driving
To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must
understand and anticipate its surroundings, in particular the behavior and intents of other …
understand and anticipate its surroundings, in particular the behavior and intents of other …
Foresee the unseen: Sequential reasoning about hidden obstacles for safe driving
Safe driving requires autonomous vehicles to anticipate potential hidden traffic participants
and other unseen objects, such as a cyclist hidden behind a large vehicle, or an object on …
and other unseen objects, such as a cyclist hidden behind a large vehicle, or an object on …