In this article, we present an innovative approach, ie, horizonwise model-predictive control
(H-MPC), to solve the model-predictive control (MPC) problem of a linear time-varying (LTV) …

Motion planning for autonomous vehicles becomes more challenging when both driver
comfort and collision risk are considered. To overcome this challenge, a human-like motion …

Multitask allocation and trajectory planning for multiple unmanned aerial vehicles (UAVs)
have been extensively used in various real-world applications. This article presents a …

Conventional layered planning architecture temporally partitions the spatiotemporal motion
planning by the path and speed, which is not suitable for lane change and overtaking …

Trajectory planning for autonomous vehicles (AVs) by considering conflicting moving objects
(CMOs) is a challenging problem to AV operations. This paper investigates an AV trajectory …

Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free
trajectories. A layered motion planning approach with decoupled path and speed planning …

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 …

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

In conventional autonomous vehicle designs, the mechanical system is first devised, and the
automated driving systems are subsequently added. The conventional method can be …

This article proposes a design of a tracking controller for autonomous articulated heavy
vehicles (AAHVs) using a nonlinear model predictive control (NLMPC) technique. Despite …