Nowadays, the potential of autonomous vehicles for order picking and material transport in
vast environments with large amounts of obstacles is only exploited to a limited extent. In …

With the progress of autonomous driving technology, obtaining a safe and smooth trajectory
in complex environments is the focus of motion planning in recent years. This paper …

We present a framework for robust autonomous driving motion planning system in urban
environments which includes trajectory refinement, trajectory interpolation, avoidance of …

Motion planning for autonomous vehicles requires spatio-temporal motion plans (ie state
trajectories) to account for dynamic obstacles. This requires a trajectory tracking control …

The application of continuous optimization to motion planning of autonomous vehicles has
enjoyed increasing popularity in recent years. In order to maintain low computation times, it …

We propose a novel constrained planning approach for autonomous vehicles in
unstructured outdoor environments. Our method enables autonomous off-road platforms to …

Motion planning is one of the core modules for autonomous driving. Among the current
motion planning techniques, optimization-based methods have unique advantages since …

Planning safe trajectories in Autonomous Driving Systems (ADS) is a complex problem to
solve in real-time. The main challenge to solve this problem arises from the various …

Safe operation of autonomous systems demands a collision-free motion trajectory at every
time instant. This paper presents a method to calculate time-optimal motion trajectories for …

This paper proposes a unified and fast trajectory planning method for an autonomous
vehicle with avoidance of static obstacles in the off-road scenarios. Nominally, an optimal …