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Title: Motion planning using cooperative perception on urban road
Authors: Liu, W.
Kim, S.W.
Chong, Z.J.
Shen, X.T.
Ang Jr., M.H. 
Issue Date: 2013
Citation: Liu, W.,Kim, S.W.,Chong, Z.J.,Shen, X.T.,Ang Jr., M.H. (2013). Motion planning using cooperative perception on urban road. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings : 130-137. ScholarBank@NUS Repository.
Abstract: In this paper, we consider motion planning with long-range sensing information provided by cooperative perception. Firstly, we develop a general framework to reflect sensing uncertainty and transmission delay into motion planning. The Bayesian filter is utilized for perception belief fusion, which is then formulated into a cost function for optimal planning. With the cost map, we leverage the optimal property of RRT* framework and propose a long-term perspective planning algorithm to exploit the benefits introduced by long-range sensing. Finally, we demonstrate our proposed methods for a self-driving vehicle featured with cooperative perception. The experiment result shows that the proposed approach is able to improve the planning performance and is applicable to real-time implementation. © 2013 IEEE.
Source Title: IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
ISBN: 9781479911998
ISSN: 2158219X
DOI: 10.1109/RAM.2013.6758572
Appears in Collections:Staff Publications

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