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 …

Real time trajectory optimization is critical for robotic systems. Due to nonlinear system
dynamics and obstacles in the environment, the trajectory optimization problems are highly …

Safe and smooth robot motion around obstacles is an essential skill for autonomous robots,
especially when operating around people and other robots. Conventionally, due to real-time …

In passing maneuvers on two-lane highways, assessing the needed distance and the
potential power reserve to ensure the required speed mode of the passing vehicle is a …

Collision avoidance at unsignalized intersections is critical to autonomous vehicle
technology. Our work addresses the challenging problem of online speed planning along a …

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic
congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic …

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 …

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 …

Cooperative driving behavior is essential for driving in traffic, especially for ramp merging,
lane changing or navigating intersections. Autonomous vehicles should also man-age these …

In recent years, many functionalities were developed for Automated Vehicles (AVs) and
some of them with close-to-market prototypes. A required topic is the generation of …