This article presents a model-based motion planning and control system for autonomous
vehicles and its experimental validation. The system consists of four modules: 1) global …

This paper presents the design and first test on a simulator of a vehicle trajectory-planning
algorithm that adapts to traffic on a lane-structured infrastructure such as highways. The …

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

Self-driving vehicles are a maturing technology with the potential to reshape mobility by
enhancing the safety, accessibility, efficiency, and convenience of automotive transportation …

This study proposes a new integrated approach to the motion control of autonomous
vehicles, which differs from the conventional method of treating planning and tracking tasks …

This paper focuses on the real-time trajectory planning problem for autonomous vehicles
driving in realistic urban environments. To solve the complex navigation problem, we adopt …

This paper presents a trajectory planning framework to deal with the highly dynamic
environments for on-road driving. The trajectory optimization problem with parameterized …

On-road motion planning for autonomous vehicles is in general a challenging problem. Past
efforts have proposed solutions for urban and highway environments individually. We …

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

This thesis addresses motion planning and control of autonomous heavyduty industrial
vehicles, such as trucks and buses, using optimization-based techniques. Autonomous …