5 accepted papers
Lexicographic multi-objective problems, which consist of multiple conflicting subtasks with explicit priorities, are common in real-world applications. Despite the advantages of Reinforcement Learning (RL) in single tasks, extending conventional RL methods to prioritized multiple objectives remains
This study is focused on the maneuver planning problem for a tractor-trailer vehicle in a curvy and tiny tunnel. Due to the curse of dimensionality, the prevalent sampling-and- search-based planners used to handle a rigid-body vehicle well become less efficient when the trailer number grows or when
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
This work formulates the multi-vehicle lane change motion planning task as a centralized optimal control problem, which is beneficial in being generic and complete. However, a direct solution to this optimal control problem is numerically intractable due to the dimensionality of the collision-avoida…
Trajectory planning is a critical aspect of autonomous tractor-trailer vehicle design. Trajectory planning algorithms usually compute paths first, trajectories are obtained thereafter. This multi-step feature makes those planners inefficacious to handle time-dependent constraints. In this study, we…