Jiahui Lin — accepted AI-conference papers

2022

Online State-Time Trajectory Planning Using Timed-ESDF in Highly Dynamic Environments

Delong Zhu, Tong Zhou, Jiahui Lin, Yuqi Fang, Max Q.-H. Meng

ICRA 2022poster

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the curse of dimensionality of the state-time space. Existing state-time planners are typically implemented based on randomized sampling approaches or path searching on discrete graphs. The smooth…

Cited by 10 Source ↗Scholar ↗

2021

Search-Based Online Trajectory Planning for Car-like Robots in Highly Dynamic Environments

Jiahui Lin, Tong Zhou, Delong Zhu, Jianbang Liu, Max Q.-H. Meng

ICRA 2021poster

This paper presents a search-based partial motion planner for generating feasible trajectories of car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives. To enable fast online pla…

Cited by 19 Source ↗Scholar ↗