Task-Motion Planning for Safe and Efficient Urban Driving
Yan Ding,Xiaohan Zhang,Xingyue Zhan,Shiqi Zhang,Yan Ding,Xiaohan Zhang,Xingyue Zhan,Shiqi Zhang
Autonomous vehicles need to plan at the task level to compute a sequence of symbolic actions, such as merging left and turning right, to fulfill people's service requests, where efficiency is the main concern. At the same time, the vehicles must compute continuous trajectories to perform actions at the motion level, where safety is the most important. Task-motion planning in autonomous driving fac...
