Most autonomous driving architectures separate planning and control phases in different
layers, even though both problems are intrinsically related. Due to limitations on the …

Path planning for autonomous vehicles in dynamic environments is an important but
challenging problem, due to the constraints of vehicle dynamics and existence of …

This paper discusses some of the current state-of-the-art and remaining challenges in
research on path planning and vehicle control of autonomous vehicles. Reliable path …

In this paper, we propose a novel planning framework that can greatly improve the level of
intelligence and driving quality of autonomous vehicles. A reference planning layer first …

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 …

Controlling autonomous vehicles typically has two main components: planning a trajectory
and tracking this trajectory using feedback controllers. To benefit from the recent progress in …

Numerical experiments for motion planning of road vehicles require numerous components:
vehicle dynamics, a road network, static obstacles, dynamic obstacles and their movement …

Intelligent vehicles (IVs) have gained worldwide attention due to their increased
convenience, safety advantages, and potential commercial value. Despite predictions of …

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 …

Formally verified methods for motion planning are required in order to guarantee safety for
autonomous vehicles. In particular, we consider trajectory generation by considering the …