logo
CanyamAI summaries for academic research
language
MobileMobile
  • Phone FeatureWeChat Mini Program
EnglishEnglish
noticeNotice
BlogBlog
delete
arrow
Return

Safe planning using mixed-integer programming for autonomous vehicles coordination

delete2025-06-09
delete0
PRE
AI
S
Sergio E. Samada
V
Vicenç Puig *
F
Fatiha Nejjari
R
Ramón Sarrate
DOI：10.1016/j.robot.2025.105078delete
deleteOriginal
deleteOriginal request for help
deleteShare
deleteSave
Abstract

Abstract

En 中文
• A safe model predictive planning (MPP) approach is proposed for autonomous vehicles coordination. • The prediction stage uses the LPV representation of the vehicle model which includes dynamic and kinematic relations. • The MPP is robust against modeling errors and noises, to this end, zonotopic sets are used. • Mixed-integer linear inequalities are incorporated to the planner design to address obstacle avoidance. • The methodology is assessed in aggressive regimes of autonomous driving using 1/10 scale simulated cars.

Journal

Robotics and Autonomous Systems cover
Robotics and Autonomous Systems
IF:
5.2
Papers:
633
Citations:
1.0W

Organization

No organization information available