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Title:
Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories 
Speaker:
Yuanfei Lin 
Editor:
Yuanfei Lin 
Abstract:
Autonomous vehicles must comply with traffic rules. However, most motion planners do not explicitly consider all relevant traffic rules. Once traffic rule violations of an initially-planned trajectory are detected, there is often not enough time to replan the entire trajectory. To solve this problem, we propose to repair the initial trajectory by investigating the satisfiability modulo theories paradigm. This framework makes it efficient to reason whether and how the trajectory can be repaired a...    »
 
Year:
2022 
Language:
English