3 accepted papers
Inference using deep neural networks is often outsourced to the cloud since it is a computationally demanding task. However, this raises a fundamental issue of trust. How can a client be sure that the cloud has performed inference correctly? A lazy cloud provider might use a simpler but less accura…
In a hierarchical motion planning system for urban autonomous driving, it is a common practice to separate tactical reasoning from the lower-level trajectory planning. This separation makes it difficult to achieve robust maneuver-based tactical reasoning, which is intrinsically linked to trajectory…
This paper investigates real-time on-road motion planning algorithms for autonomous passenger vehicles (APV) in urban environments, and propose a computationally efficient planning formulation. Two key properties, tunability and stability, are emphasized when designing the proposed planner. The main…