In this paper, we present an effective online planning solution for autonomous vehicles that
aims at improving the computational load while preserving high levels of performance in …

The Frenét frame is commonly used in motion planning for its superiority of reshaping
nonconvex curving boundaries and decoupling lateral and longitudinal behaviors …

Focusing on autonomous driving algorithm development, this paper proposes a novel real-
time trajectory planner formulated as a Nonlinear Model Predictive Control (NMPC) …

This paper presents a different strategy for a self-driving car short-term path planning among
multiple moving obstacles. The main task is to study and implement a motion planning and …

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the
own future behavior in a dynamically changing environment. A good utilization of a vehicle's …

This paper discusses a particle swarm optimization (PSO)-based motion-planning algorithm
in a multiple-vehicle system that minimizes the traveling time of the slowest vehicle by …

Path planning is discussed in this article for an autonomous vehicle given a route to follow.
Route data is considered to be available for a distance ahead of the vehicle in a receding …

This thesis addresses motion planning and control of autonomous heavyduty industrial
vehicles, such as trucks and buses, using optimization-based techniques. Autonomous …

Automated vehicles with parallel autonomy show advantages over fully automated vehicles
and manual driving. This paper proposes a hierarchical motion planning method that mixes …

This paper investigates the stochastic path planning of a vehicle in the presence of some
moving obstacles and uncertainty sources. Upon a successive linearization, a Linear-Time …