In this paper, we present a novel convex optimization approach to address the minimum-
time speed planning problem over a fixed path with dynamic obstacle constraints and point …

Motion planning is essential for an autonomous vehicle to perform safe and human-like
driving behaviors, especially in highly dynamic scenarios such as dense urban and highway …

In this paper, we present a convex-optimization-based method to solve speed planning
problems over a fixed path for autonomous driving in both static and dynamic environments …

Motion planning in autonomous driving defines the task of planning the desired movement
of a vehicle through a dynamically moving environment. A plan is stored as trajectory, saving …

Smooth and safe speed planning is imperative for the successful deployment of autonomous
vehicles. This paper presents a mathematical formulation for the optimal speed planning of …

To efficiently generate safe trajectories for an autonomous vehicle in dynamic environments,
a layered motion planning method with decoupled path and speed planning is widely used …

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

In this paper, we present a complete, flexible and safe convex-optimization-based method to
solve speed planning problems over a fixed path for autonomous driving in both static and …

To generate safe and efficient trajectories for an automated vehicle in dynamic
environments, a layered approach is usually considered, which separates path planning …

In this article, an algorithmic speed planning method for an autonomous vehicle dealing with
moving obstacles is presented. The path-time space is used to represent predicted collision …