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Interactive multi-modal motion planning with Branch Model Predictive Control

10 September 2021

Papers citing "Interactive multi-modal motion planning with Branch Model Predictive Control"

42 / 42 papers shown

Title
Safe and Non-Conservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers Rui Yang Lei Zheng Shuzhi Sam Ge Jun Ma 88 0 0 09 Sep 2025
Model Predictive Control for Crowd Navigation via Learning-Based Trajectory Prediction Mohamed Parvez Aslam Bojan Derajić Mohamed-Khalil Bouzidi Sebastian Bernhard Jan Oliver Ringert 52 1 0 09 Aug 2025
An Evolutionary Game-Theoretic Merging Decision-Making Considering Social Acceptance for Autonomous Driving Haolin Liu Zijun Guo Yanbo Chen Jiaqi Chen Huilong Yu Junqiang Xi 56 0 0 09 Aug 2025
Active Probing with Multimodal Predictions for Motion Planning D. Gadginmath Farhad Nawaz Minjun Sung Faizan M. Tariq S. Bae David Isele Fabio Pasqualetti Jovin D'sa 252 1 0 13 Jul 2025
Generative AI for Autonomous Driving: A Review Katharina Winter Abhishek Vivekanandan Rupert Polley Yinzhe Shen Christian Schlauch ... J. Dietrich Omer Sahin Tas Nadja Klein Fabian B. Flohr Hanno Gottschalk 334 2 0 21 May 2025
EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial RepresentationsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Yue Yao Mohamed-Khalil Bouzidi Daniel Goehring Joerg Reichardt DiffM 250 0 0 07 Apr 2025
Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments Minzhe Zheng Lei Zheng Lei Zhu Jun Ma 268 2 0 06 Mar 2025
Delayed-Decision Motion Planning in the Presence of Multiple PredictionsIEEE International Conference on Robotics and Automation (ICRA), 2025 David Isele Alexandre Miranda Añon Faizan M. Tariq Goro Yeh Avinash Singh Sangjae Bae 283 4 0 28 Feb 2025
Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability AnalysisIEEE Transactions on robotics (IEEE Trans. Robot.), 2024 Yuanfei Lin Zekun Xing Xuyuan Han Matthias Althoff 319 3 0 20 Dec 2024
Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes with Tight Relaxations Joshua A. Robbins Jacob A. Siefert Sean Brennan Herschel C. Pangborn 167 7 0 02 Nov 2024
Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization Lei Zheng Rui Yang Minzhe Zheng Michael Yu Wang Jun Ma 173 6 0 16 Sep 2024
Analysis of Functional Insufficiencies and Triggering Conditions to Improve the SOTIF of an MPC-based Trajectory Planner Christopher E. Mower Georg Schildbach 150 1 0 31 Jul 2024
A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Driving Yang Lou Yi Zhu Qun Song Rui Tan Chunming Qiao Wei-Bin Lee Jianping Wang AAML 305 6 0 17 Jun 2024
Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control Mohamed-Khalil Bouzidi Bojan Derajić Daniel Goehring Joerg Reichardt 162 5 0 06 May 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning ApproachesIEEE/ASME transactions on mechatronics (TAM), 2024 Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 395 43 0 03 Apr 2024
An Integrating Comprehensive Trajectory Prediction with Risk Potential Field Method for Autonomous Driving Kailu Wu Xing Liu Feiyu Bian Yizhai Zhang Panfeng Huang 150 1 0 01 Apr 2024
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification Prithvi Akella Anushri Dixit M. Ahmadi Lars Lindemann Margaret P. Chapman George J. Pappas Aaron D. Ames J. W. Burdick 381 11 0 27 Mar 2024
An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors Luyao Zhang G. Pantazis Shaohang Han S. Grammatico 134 1 0 27 Mar 2024
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction Justin Lidard Hang Pham Ariel Bachman Bryan Boateng Anirudha Majumdar 289 7 0 23 Mar 2024
RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions Khaled A. Mustafa Daniel Jarne Ornia Jens Kober Javier Alonso-Mora 268 17 0 27 Feb 2024
Blending Data-Driven Priors in Dynamic Games Justin Lidard Haimin Hu Asher Hancock Zixu Zhang Albert Gimó Contreras ... Deepak Gopinath Guy Rosman Naomi Ehrich Leonard María Santos J. F. Fisac OffRL 258 6 0 21 Feb 2024
Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving Lei Zheng Rui Yang Michael Yu Wang Jun Ma 245 11 0 16 Feb 2024
Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions Hansung Kim Siddharth H. Nair Francesco Borrelli 527 1 0 02 Feb 2024
Automated Lane Merging via Game Theory and Branch Model Predictive ControlIEEE Transactions on Control Systems Technology (IEEE TCST), 2023 Luyao Zhang Shaohang Han S. Grammatico 279 11 0 25 Nov 2023
IR-STP: Enhancing Autonomous Driving with Interaction Reasoning in Spatio-Temporal Planning Yingbing Chen Jie Cheng Lu Gan Sheng Wang Hongji Liu Xiaodong Mei Ming-Yuan Liu 269 7 0 06 Nov 2023
Predictive Control for Autonomous Driving with Uncertain, Multi-modal PredictionsIEEE Transactions on Control Systems Technology (IEEE TCST), 2023 Siddharth H. Nair Hotae Lee Eunhyek Joa Yan Wang H. E. Tseng Francesco Borrelli 225 17 0 31 Oct 2023
Interactive Joint Planning for Autonomous VehiclesIEEE Robotics and Automation Letters (RA-L), 2023 Yuxiao Chen Sushant Veer Peter Karkus Marco Pavone 245 34 0 27 Oct 2023
Decision-theoretic MPC: Motion Planning with Weighted Maneuver Preferences Under Uncertainty Ömer Sahin Tas Philipp Heinrich Brusius Christoph Stiller 164 8 0 27 Oct 2023
MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous DrivingIEEE Robotics and Automation Letters (RA-L), 2023 Tong Li Lunkai Zhang Sikang Liu Shaojie Shen 197 37 0 23 Aug 2023
Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense TrafficIEEE Transactions on Intelligent Vehicles (TIV), 2023 Lei Zheng Rui Yang Zeng Peng Michael Yu Wang Jun Ma 207 10 0 11 Aug 2023
Experimental Validation of Safe MPC for Autonomous Driving in Uncertain EnvironmentsIEEE Transactions on Control Systems Technology (IEEE TCST), 2023 Ivo Batkovic Ankit Gupta Mario Zanon P. Falcone 168 28 0 05 May 2023
Contingency Games for Multi-Agent InteractionIEEE Robotics and Automation Letters (RA-L), 2023 Lasse Peters Andrea V. Bajcsy Chih-Yuan Chiu David Fridovich-Keil F. Laine L. Ferranti Javier Alonso-Mora AI4CE 304 35 0 11 Apr 2023
Inferring Occluded Agent Behavior in Dynamic Games from Noise Corrupted ObservationsIEEE Robotics and Automation Letters (RA-L), 2023 Tianyu Qiu David Fridovich-Keil 199 4 0 17 Mar 2023
Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach Haimin Hu David Isele S. Bae J. F. Fisac 232 28 0 01 Feb 2023
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control Rui Oliveira Siddharth H. Nair B. Wahlberg 108 11 0 31 Jan 2023
Tree-structured Policy Planning with Learned Behavior ModelsIEEE International Conference on Robotics and Automation (ICRA), 2023 Yuxiao Chen Peter Karkus Boris Ivanovic Xinshuo Weng Marco Pavone 185 35 0 27 Jan 2023
DiffStack: A Differentiable and Modular Control Stack for Autonomous VehiclesConference on Robot Learning (CoRL), 2022 Peter Karkus Boris Ivanovic Shie Mannor Marco Pavone 208 63 0 13 Dec 2022
Efficient Speed Planning for Autonomous Driving in Dynamic Environment with Interaction Point ModelIEEE Robotics and Automation Letters (RA-L), 2022 Yingbing Chen Ren Xin Jie Cheng Qingwen Zhang Xiaodong Mei Ming-Yuan Liu Lujia Wang 165 15 0 19 Sep 2022
ScePT: Scene-consistent, Policy-based Trajectory Predictions for PlanningComputer Vision and Pattern Recognition (CVPR), 2022 Yuxiao Chen Boris Ivanovic Marco Pavone 250 99 0 18 Jun 2022
Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk MeasuresArtificial Intelligence (AIJ), 2022 Anushri Dixit M. Ahmadi J. W. Burdick 178 15 0 20 Apr 2022
Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control ApproachWorkshop on the Algorithmic Foundations of Robotics (WAFR), 2022 Haimin Hu J. F. Fisac 209 27 0 15 Feb 2022
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments Kasper Johansson Ugo Rosolia Wyatt Ubellacker Andrew W. Singletary Aaron D. Ames 287 3 0 03 Oct 2021