… The question that we aim to answer is: can an autonomous vehicle drive even better than
human drivers given the … Efficient sampling-based motion planning for on-road autonomous …

Sampling-based motion planning (SBMP) is a major algorithmic trajectory planning approach
in autonomous driving given its high efficiency and outstanding performance in practice. …

… vehicle. The authors showed a significant improvement in the convergence of the sampling-based
path planner. … the improved motion planner to a real autonomous vehicle to evaluate …

… Motion planning for autonomous driving plays an important role in generating … Abstract:
Sampling-based motion planning methods are widely adopted in autonomous driving. Typically, …

… This paper presents a hierarchical motion planning method for autonomous driving on structured
roads with avoidance of … Zheng, ‘‘Efficient sampling-based motion planning for on-road …

… that utilizes Sampling-Based Motion Planning (SBMP) to conduct motion planning in autonomous
driving, which involves … Zheng, “Efficient sampling-based motion planning for on-road …

… efficiency [1]. As an essential component of autonomous driving, motion planning directly …
Huet al.used the sampling-based method [6]–[9] to find all the potential behavior trajectories …

… performance of a sampling-based motion planner using set-… the sampling-based planner
on the quality of a reference path… “On-road trajectory planning for general autonomous driving …

… and motion planners being essential prerequisites for IVs. This article reviews state-of-the-art
motion planning methods for IVs, including pipeline planning and end-to-end planning …

… as dynamic on-road driving scenarios. … effectively. Our future work will pursue integrating
the CAP-NMPC approach with other existing, very successful sampling-based motion planning …