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Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles.
On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
Lester E Dubins · 1957
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Breadth-first search
Alan Bundy and Lincoln Wallen · 1984
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Toward efficient trajectory planning: The path-velocity decomposition
Kamal Kant and Steven W Zucker · 1986
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Optimal paths for a car that goes both forwards and backwards
James Reeds and Lawrence Shepp · 1990
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Path-velocity decomposition revisited and applied to dynamic trajectory planning
Thierry Fraichard and Christian Laugier · 1993
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Convex optimization
Stephen P Boyd and Lieven Vandenberghe · 2004
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Optimal trajectory generation for dynamic street scenarios in a frenet frame
Moritz Werling, Julius Ziegler, Sören Kammel, and Sebastian Thrun · 2010
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Enhanced intelligent driver model to access the impact of driving strategies on traffic capacity
Arne Kesting, Martin Treiber, and Dirk Helbing · 2010
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Planning truly dynamic motions: Path-velocity decomposition revisited
Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon, and Yoshihiko Nakamura · 2014
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qpoases: A parametric active-set algorithm for quadratic programming
Hans Joachim Ferreau, Christian Kirches, Andreas Potschka, Hans Georg Bock, and Moritz Diehl · 2014
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Speed profile planning in dynamic environments via temporal optimization
Changliu Liu, Wei Zhan, and Masayoshi Tomizuka · 2017
Cited alongside, same era.
CARLA: An open urban driving simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun · 2017
Cited alongside, same era.
Minimum curvature trajectory planning and control for an autonomous race car
Alexander Heilmeier, Alexander Wischnewski, Leonhard Hermansdorfer, Johannes Betz, Markus Lienkamp, and Boris Lohmann · 2019
Cited alongside, same era.
Interaction-aware multi-agent reinforcement learning for mobile agents with individual goals
Anahita Mohseni-Kabir, David Isele, and Kikuo Fujimura · 2019
Cited alongside, same era.
Collision avoidance for multiple static obstacles using path-velocity decomposition
Vasundhara Jain, Uli Kolbe, Gabi Breuel, and Christoph Stiller · 2019
Cited alongside, same era.
Graph-Based Speed Planning for Autonomous Driving
Optimal eco-driving control of connected and autonomous vehicles through signalized intersections
Chao Sun, Jacopo Guanetti, Francesco Borrelli, and Scott J Moura · 2020
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Path tracking control for underactuated vehicles with matched-mismatched uncertainties: An uncertainty decomposition based constraint-following approach
Zeyu Yang, Jin Huang, Hui Yin, Diange Yang, and Zhihua Zhong · 2021
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Lane-change in dense traffic with model predictive control and neural networks
Sangjae Bae, David Isele, Alireza Nakhaei, Peng Xu, Alexandre Miranda Añon, Chiho Choi, Kikuo Fujimura, and Scott Moura · 2022
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Motion Planning for Autonomous Vehicles in Urban Scenarios: A Sequential Optimization Approach
Wenda Xu · 2022
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RCMS: Risk-aware crash mitigation system for autonomous vehicles
Faizan M Tariq, David Isele, John S. Baras, and Sangjae Bae · 2023
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Till-Julius Krüger, Daniel Göhring, and Fritz Ulbrich · 2019
Cited alongside, same era.
Reinforcement learning with iterative reasoning for merging in dense traffic
Maxime Bouton, Alireza Nakhaei, David Isele, Kikuo Fujimura, and Mykel J Kochenderfer · 2020
Cited alongside, same era.
Mats: An interpretable trajectory forecasting representation for planning and control
Boris Ivanovic, Amine Elhafsi, Guy Rosman, Adrien Gaidon, and Marco Pavone · 2020
Cited alongside, same era.
Christoforos Mavrogiannis, Jonathan A DeCastro, and Siddhartha S Srinivasa · 2020
Cited alongside, same era.
Interaction-aware trajectory planning for autonomous vehicles with analytic integration of neural networks into model predictive control
Piyush Gupta, David Isele, Donggun Lee, and Sangjae Bae · 2023
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Nmpc trajectory planner for urban autonomous driving
Francesco Micheli, Mattia Bersani, Stefano Arrigoni, Francesco Braghin, and Federico Cheli · 2023
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Trajectory planning for an autonomous vehicle with conflicting moving objects along a fixed path–an exact solution method
Xiaowei Shi and Xiaopeng Li · 2023
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Clipper2 - Polygon Clipping and Offsetting Library — angusj.com · 2023
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