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 …

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 …

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

The study aims at improving the technique of planning the autonomous vehicles'(AV) speed
mode based on a kinematic model with physical restrictions. A mathematical model relates …

Robot swarm is a hot spot in robotic research community. In this paper, we propose a
decentralized framework for car-like robotic swarm which is capable of real-time planning in …

Intersections are one of the most common conflicting scenarios, where vehicles intend to
pass through them at the same time. As the technology advances, connected and …

Prior work has successfully incorporated optimization layers as the last layer in neural
networks for various problems, thereby allowing joint learning and planning in one neural …

This thesis deals with the problem of local horizon motion planning for an autonomous
vehicle (AV) at an urban unsignalised intersection scenario. The chances of crashes are …