2021
PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving
Henry Pulver, Francisco Eiras, Ludovico Carozza, Majd Hawasly, Stefano V. Albrecht, Subramanian Ramamoorthy
IROS 2021poster
Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of runtime efficiency. On the other hand, naïvely deploying tr…