Yakun Ouyang — accepted AI-conference papers

2022

Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments

Yakun Ouyang, Bai Li, Youmin Zhang, Tankut Acarman, Yuqing Guo, Tantan Zhang

ICRA 2022poster

This paper is focused on the cooperative trajectory planning problem for multiple car-like robots in a cluttered and unstructured environment narrowed by static obstacles. The concerned multi-vehicle trajectory planning (MVTP) problem is challenging because i) the scenario is nonconvex and tiny; ii)…

Cited by 24 Source ↗code ↗Scholar ↗

2021

Lane-free Autonomous Intersection Management: A Batch-processing Framework Integrating Reservation-based and Planning-based Methods

Bai Li, Youmin Zhang, Tankut Acarman, Yakun Ouyang, Cagdas Yaman, Yaonan Wang

ICRA 2021poster

Autonomous intersection management (AIM) refers to planning the trajectories for multiple connected and automated vehicles (CAVs) when they traverse an unsignalized intersection cooperatively. As an extension of the conventional AIM, lane-free AIM allows the CAVs to adjust their velocities and paths…

Cited by 23 Source ↗Scholar ↗

2021

Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization

Bai Li, Yakun Ouyang, Youmin Zhang, Tankut Acarman, Qi Kong, Zhijiang Shao

RA-L 2021

This letter is focused on the time-optimal Multi-Vehicle Trajectory Planning (MVTP) problem for multiple car-like robots when they travel in a tiny indoor scenario occupied by static obstacles. Herein, the complexity of the concerned MVTP task includes i) the non-convexity and narrowness of the envi

Cited by 54 Source ↗Scholar ↗