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Autonomous Driving Motion Planning
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213
Publications
  • 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