Changjia Ma — accepted AI-conference papers

2025

Topology-Driven Trajectory Optimization for Modelling Controllable Interactions Within Multi-Vehicle Scenario

Changjia Ma, Yi Zhao, Zhongxue Gan, Bingzhao Gao, Wenchao Ding

IROS 2025

Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by topological planning, we propose a differentiable local homotopy i

Cited by 0 Source ↗Scholar ↗

2023

Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments

Changjia Ma, Zhichao Han, Tingrui Zhang, Jingping Wang, Long Xu, Chengyang Li +2

IROS 2023poster

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided by environmental topology information to avoid frequent top…

Cited by 11 Source ↗code ↗Scholar ↗