We present a motion planner for autonomous on-road driving, especially on highways. It
adapts the idea of a on-road state lattice. A focused search is performed in the previously …

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 …

We present a motion planner for autonomous highway driving that adapts the state lattice
framework pioneered for planetary rover navigation to the structured environment of public …

In this paper, we present an algorithm for generating complex dynamically feasible
maneuvers for autonomous vehicles traveling at high speeds over large distances. Our …

In this paper, an efficient real-time autonomous driving motion planner with trajectory
optimization is proposed. The planner first discretizes the plan space and searches for the …

We present a method for motion planning in the presence of moving obstacles that is aimed
at dynamic on-road driving scenarios. Planning is performed within a geometric graph that is …

This paper introduces an efficient motion planning method for on-road driving of the
autonomous vehicles, which is based on the rapidly exploring random tree (RRT) algorithm …

This letter presents a hierarchical motion planner for generating smooth and feasible
trajectories for autonomous vehicles in unstructured environments with static and moving …

Self-driving vehicles will soon be a reality, as main automotive companies have announced
that they will sell their driving automation modes in the 2020s. This technology raises …

For vehicles navigating initially unknown cluttered environments, current state-of-the-art
planning algorithms are able to plan and re-plan dynamically-feasible paths efficiently and …