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Autonomous Driving Motion Planning
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213
Publications
  • Tunable and Stable Real-Time Trajectory Planning for Urban Autonomous Driving

    Tianyu Gu, Jason Atwood, Chiyu Dong, John M. Dolan, and Jin-Woo Lee
    Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2015, pp. 250-256.
    Details | pdf (2MB) | Copyrighted

  • A Lightweight Simulator for Autonomous Driving Motion Planning Development

    Tianyu Gu and John M. Dolan
    Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015), October, 2015, pp. 94-97.
    Details | pdf (3MB) | Copyrighted

  • A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles

    Wenda Xu and John M. Dolan
    Proceedings of the International Conference on Robotics and Automation, May, 2012, pp. 2061-2067.
    Details | pdf (403KB) | Copyrighted

  • Parallel Algorithms for Real-time Motion Planning

    Matthew McNaughton
    doctoral dissertation, tech. report CMU-RI-TR-11-30, Robotics Institute, Carnegie Mellon University, July, 2011
    Details | pdf (4MB) | Copyrighted

  • Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice

    Matthew McNaughton, Christopher Urmson, John M. Dolan, and Jin-Woo Lee
    Proceedings of the International Conference on Robotics and Automation, May, 2011, pp. 4889-4895.
    Details | pdf (443KB) | Copyrighted

  • FAHR: Focused A* Heuristic Recomputation

    Matthew McNaughton and Christopher Urmson
    Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, March, 2011, pp. 4893 -4898.
    Details | pdf (460KB) | Copyrighted