Favorite Papers

A personal selection of favorite papers from the fields of Autonomous Driving, Robotics, and related areas, updated continuously.

Find Papers by Tags

• Control Methodology
  • Model Predictive Control
  • Model Predictive Path Integral Control
  • Reinforcement Learning
  • Sliding Mode Control
• Target Application
  • Autonomous Racing
  • Risk Aware Driving
  • Four Wheel Independent Drive and Steering Vehicle
  • Human-Machine Collaboration
• Others
  • Optimal Transport
  • Koopman Operator
  • Vehicle Model
  • Gaussian
  • Multi Objective Control
  • Survey

All Paper List

Title	PDF	Others
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation
Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments
Stanley: The Robot that Won the DARPA Grand Challenge
Accelerating Motion Planning via Optimal Transport
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Aggressive driving with model predictive path integral control
A Note on Two Problems in Connexion with Graphs
Probabilistic Prioritization of Movement Primitives
Lexicographic multi-objective MPC for constrained nonlinear systems with changing objective prioritization
Open Problems and Fundamental Limitations of Reinforcement Learning from Human Feedback
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation
The dynamic window approach to collision avoidance
Autonomous Navigation of AGVs in Unknown Cluttered Environments: Log-MPPI Control Strategy
Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving
Dynamical Optimal Transport on Discrete Surfaces
Efficient Trajectory Optimization using a Sparse Model
Entropic model predictive optimal transport over dynamical systems
Linear Theory for Control of Nonlinear Stochastic Systems
Perceptive Locomotion Through Nonlinear Model-Predictive Control
Generalized Hierarchical Control
Automatically Deployable Robust Control of Modular Reconfigurable Robot Manipulators
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
State Space Sampling ofFeasible Motions forHigh-Performance MobileRobot Navigation in ComplexEnvironments
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
Multi-Objective Ergodic Search for Dynamic Information Maps
Multimodal Neural Radiance Field
Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization
Model-Based Control Using Koopman Operators
Variance modulated task prioritization in Whole-Body Control
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier Functions
Leveraging Neural Koopman Operators to Learn Continuous Representations of Dynamical Systems from Scarce Data
Learning soft task priorities for control of redundant robots
Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC
Autonomous Power Line Inspection with Drones via Perception-Aware MPC
Learning for CasADi: Data-driven Models in Numerical Optimization
Contingency Model Predictive Control for Automated Vehicles
Language to Rewards for Robotic Skill Synthesis
DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Frequency-Aware Model Predictive Control
Kinematics, dynamics and control design of 4WIS4WID mobile robots
Null-space-based modulated reference trajectory generator for multi-robots formation in obstacle environment
Inverse Perspective Mapping-Based Neural OccupancyGrid Map for Visual Parking
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
GIN: Graph-based Interaction-aware Constraint Policy Optimization for Autonomous Driving
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
High-Speed High-Accuracy Spatial Curve Tracking Using Motion Primitives in Industrial Robots
Torque Control with Joints Position and Velocity Limits Avoidance
Foresee the Unseen: Sequential Reasoning about Hidden Obstacles for Safe Driving
Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields
Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing
Temporal Difference Learning for Model Predictive Control
Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control
Predicting Pedestrian Crossing Intention With Feature Fusion and Spatio-Temporal Attention
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
Computing Large Convex Regions of Obstacle-Free Space through Semidefinite Programming
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
Path Planning with Uncertainty: Voronoi Uncertainty Fields
Robust Sampling Based Model Predictive Controlwith Sparse Objective Information
Null It Out: Guarding Protected Attributes by Iterative Nullspace Projection
Review of Pedestrian Trajectory PredictionMethods: Comparing Deep Learning andKnowledge-based Approaches
Numerically Stable Dynamic Bicycle Model for Discrete-time Control
DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
Information Theoretic Model Predictive Q-Learning
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
CL-MAPF: Multi-Agent Path Finding for Car-Like robots with kinematic and spatiotemporal constraints
MPC-based high-speed trajectory tracking for 4WIS robot
Model Predictive Optimized Path Integral Strategies
Online Time-Optimal Trajectory Planning on Three-Dimensional Race Tracks
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
Model Predictive Control of a Vehicle using Koopman Operator
Smooth Model Predictive Path Integral Control without Smoothing
Trailer steering control of a tractor-trailer Robot
Information theoretic MPC for model-based reinforcement learning
Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design
MPCNet: GNSS Multipath Error Compensation Network via Multi-task learning
Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range
Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator
From Crowd Motion Prediction to Robot Navigation in Crowds
Longitudinal control of an over-actuated off-road vehicle with fault tolerance and longitudinal slip consideration
Biased Target-Tree* Algorithm With RRT* for Reducing Parking Path Planning Time
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria
Formation Tracking and Obstacle Avoidance for Multiple Quadrotors With Static and Dynamic Obstacles
Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach
Adaptive Sampling-based Particle Filter for Visual-inertial Gimbal in the Wild
Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator
1001 Ways of Scenario Generation for Testing of Self-driving Cars: A Survey
A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing
Estimation of Tire Friction Circle and Vehicle Dynamics Integrated Control for Four-wheel Distributed Steering and Four-wheel Distributed Traction/Braking Systems
State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics
Comparing Feedback Linearization and Adaptive Backstepping Control for Airborne Orientation of Agile Ground Robots using Wheel Reaction Torque
Multi-Robot Motion Planning: A Learning-Based Artificial Potential Field Solution
A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles
Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions
Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks
Local Path Planning: Dynamic Window Approach With Q-Learning Considering Congestion Environments for Mobile Robot
Path Tracking of a 4WIS–4WID Agricultural Machinery Based on Variable Look-Ahead Distance
Real-time Sampling-based Model Predictive Controlbased on Reverse Kullback-Leibler Divergenceand Its Adaptive Acceleration
Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies
A Survey of Recent Trends in Multiobjective Optimal Control—Surrogate Models, Feedback Control and Objective Reduction
Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles
Constrained linear quadratic regulation
Control of Rough Terrain Vehicles Using Deep Reinforcement Learning
Kinematics Model Based Motion Control of a 4WIS Mobile Robot with Lyapunov Stability

Model Predictive Control

Title	PDF	Others
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Lexicographic multi-objective MPC for constrained nonlinear systems with changing objective prioritization
Entropic model predictive optimal transport over dynamical systems
Perceptive Locomotion Through Nonlinear Model-Predictive Control
Model-Based Control Using Koopman Operators
Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC
Autonomous Power Line Inspection with Drones via Perception-Aware MPC
Contingency Model Predictive Control for Automated Vehicles
Language to Rewards for Robotic Skill Synthesis
Frequency-Aware Model Predictive Control
Null-space-based modulated reference trajectory generator for multi-robots formation in obstacle environment
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control
MPC-based high-speed trajectory tracking for 4WIS robot
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
Model Predictive Control of a Vehicle using Koopman Operator
Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range
Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks
A Survey of Recent Trends in Multiobjective Optimal Control—Surrogate Models, Feedback Control and Objective Reduction

Model Predictive Path Integral Control

Title	PDF	Others
Aggressive driving with model predictive path integral control
Autonomous Navigation of AGVs in Unknown Cluttered Environments: Log-MPPI Control Strategy
Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier Functions
Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering
Temporal Difference Learning for Model Predictive Control
Robust Sampling Based Model Predictive Controlwith Sparse Objective Information
Information Theoretic Model Predictive Q-Learning
Model Predictive Optimized Path Integral Strategies
Smooth Model Predictive Path Integral Control without Smoothing
Information theoretic MPC for model-based reinforcement learning
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Real-time Sampling-based Model Predictive Controlbased on Reverse Kullback-Leibler Divergenceand Its Adaptive Acceleration

Reinforcement Learning

Title	PDF	Others
Temporal Difference Learning for Model Predictive Control
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
Information Theoretic Model Predictive Q-Learning
Local Path Planning: Dynamic Window Approach With Q-Learning Considering Congestion Environments for Mobile Robot

Sliding Mode Control

Title	PDF	Others
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Kinematics, dynamics and control design of 4WIS4WID mobile robots

Autonomous Racing

Title	PDF	Others
Stanley: The Robot that Won the DARPA Grand Challenge
Aggressive driving with model predictive path integral control
Information-Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Online Time-Optimal Trajectory Planning on Three-Dimensional Race Tracks
Smooth Model Predictive Path Integral Control without Smoothing
Information theoretic MPC for model-based reinforcement learning
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria
A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing

Risk Aware Driving

Title	PDF	Others
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
Contingency Model Predictive Control for Automated Vehicles
Foresee the Unseen: Sequential Reasoning about Hidden Obstacles for Safe Driving
Stochastic MPC with Multi-modal Predictions for Traffic Intersections

Four Wheel Independent Drive and Steering Vehicle

Title	PDF	Others
Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC
Kinematics, dynamics and control design of 4WIS4WID mobile robots
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
MPC-based high-speed trajectory tracking for 4WIS robot
Estimation of Tire Friction Circle and Vehicle Dynamics Integrated Control for Four-wheel Distributed Steering and Four-wheel Distributed Traction/Braking Systems
State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics
Path Tracking of a 4WIS–4WID Agricultural Machinery Based on Variable Look-Ahead Distance
Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles
Kinematics Model Based Motion Control of a 4WIS Mobile Robot with Lyapunov Stability

Human Machine Collaboration

Title	PDF	Others
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Predicting Pedestrian Crossing Intention With Feature Fusion and Spatio-Temporal Attention
Review of Pedestrian Trajectory PredictionMethods: Comparing Deep Learning andKnowledge-based Approaches
From Crowd Motion Prediction to Robot Navigation in Crowds

Optimal Transport

Title	PDF	Others
Accelerating Motion Planning via Optimal Transport
Dynamical Optimal Transport on Discrete Surfaces
Entropic model predictive optimal transport over dynamical systems

Koopman Operator

Title	PDF	Others
Model-Based Control Using Koopman Operators
Model Predictive Control of a Vehicle using Koopman Operator

Vehicle Model

Title	PDF	Others
Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
Simultaneous Stability and Path Following Control for 4WIS4WID Autonomous Vehicles Based on Computationally Efficient Offset Free MPC
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
Numerically Stable Dynamic Bicycle Model for Discrete-time Control
Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range
Estimation of Tire Friction Circle and Vehicle Dynamics Integrated Control for Four-wheel Distributed Steering and Four-wheel Distributed Traction/Braking Systems
Path Tracking of a 4WIS–4WID Agricultural Machinery Based on Variable Look-Ahead Distance

Gaussian

Title	PDF	Others
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation
Linear Theory for Control of Nonlinear Stochastic Systems
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
Biased Target-Tree* Algorithm With RRT* for Reducing Parking Path Planning Time

Multi Objective Control

Title	PDF	Others
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation
Probabilistic Prioritization of Movement Primitives
Lexicographic multi-objective MPC for constrained nonlinear systems with changing objective prioritization
Generalized Hierarchical Control
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
Multi-Objective Ergodic Search for Dynamic Information Maps
Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization
Variance modulated task prioritization in Whole-Body Control
Learning soft task priorities for control of redundant robots
Autonomous Power Line Inspection with Drones via Perception-Aware MPC
Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion
Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions
A Survey of Recent Trends in Multiobjective Optimal Control—Surrogate Models, Feedback Control and Objective Reduction

Survey

Title	PDF	Others
Open Problems and Fundamental Limitations of Reinforcement Learning from Human Feedback
State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics
A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles
A Survey of Recent Trends in Multiobjective Optimal Control—Surrogate Models, Feedback Control and Objective Reduction
Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles