Planning the path of an autonomous, agile vehicle in a dynamic environment is a very
complex problem, especially when the vehicle is required to use its full maneuvering …

This paper describes a real-time motion planning algorithm, based on the rapidly-exploring
random tree (RRT) approach, applicable to autonomous vehicles operating in an urban …

A fundamental aspect of autonomous vehicle guidance is planning trajectories. Historically,
two fields have contributed to trajectory or motion planning methods: robotics and dynamics …

We present a novel planning strategy which is applicable to high performance unmanned
aerial vehicles. The proposed approach takes as input a 3-D sequence of way-points …

Intelligent vehicles have increased their capabilities for highly and, even fully, automated
driving under controlled environments. Scene information is received using onboard …

This thesis presents a novel framework for safe online trajectory planning of unmanned
vehicles through partially unknown environments. The basic planning problem is formulated …

Fast and safe navigation of dynamical systems through a priori unknown cluttered
environments is vital to many applications of autonomous systems. However, trajectory …

Real-time kinodynamic trajectory planning in dy-namic environments is critical yet
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …

This paper presents a motion planner tailored for particular requirements for robotic car
navigation. We leverage B-spline curve properties to include vehicle's constraint …

In emergency situations, autonomous vehicles will be forced to operate at their friction limits
in order to avoid collisions. In these scenarios, coordinating the planning of the vehicle's …