In this paper, we propose a novel search-based hierarchical whole-body motion planning framework that can divide the planning process of a quadrotor into two parts: position-only planning and attitude-aware planning. A safe flight corridor (SFC) containing spatial scale information is designed to partition collision-fr...
Pei-Yu Cui, Hao Zhang, Zhixu Du et al.· Intelligence & Robotics· 0 citations
A new framework that produces guidance at the full-trajectory level to suit the planning horizon of autonomous driving and provides a formal criterion for deciding when and how to inject human input into the policy-update loop is proposed, leveraging the Lagrangian method to solve the constrained optimization problem.
Li-Fei Dai, Yi-Qun Liu, Hao Zhang et al.· IEEE Transactions on Neural...· 0 citations
In autonomous driving trajectory prediction, it is important to generate multi-modal trajectories. As a generative method, diffusion model has been increasingly adopted in the field of trajectory prediction. In this paper, we propose CDJMP (Conditional Diffusion model-based Joint Motion Prediction), an adaptive conditi...
A novel adaptive traffic signal control framework by integrating Attention-based Spatio-Temporal Graph Convolutional Networks (ASTGCN) with Multi-Agent Deep Deterministic Policy Gradient (MADDPG) is proposed, providing a scalable and data-driven solution for intelligent traffic signal control in urban traffic networks,...
Jing Wang, Xiaopeng Wang, Yang Mo et al.· Scientific Reports· 0 citations
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