Proposes CPTO framework combining discrete-time barrier functions and consensus ADMM to achieve safe and consistent real-time trajectory planning for AVs in partially observed dense environments.
On integrating POMDP and scenario MPC for planning under uncertainty – with applications to highway driving
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Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization
Proposes CPTO framework combining discrete-time barrier functions and consensus ADMM to achieve safe and consistent real-time trajectory planning for AVs in partially observed dense environments.