Convex lifting-based path planning for overtaking maneuver on highways

Turan Konyalıoğlu (1, 2, 3) , Sorin Olaru (3) , Silviu-Iulian Niculescu (2, 3) , Iris Ballesteros-Tolosana (1) , Simon Mustaki (1)

1 RENAULT
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
3 L2S - Laboratoire des signaux et systèmes

This paper revisits the convex lifting method for space partition, emphasizing the generation of safe corridors in the context of navigation with obstacle avoidance guarantees. This enables the agent to navigate within the designated corridors, disregarding obstacles. The paper also emphasizes that the method can be adapted to a highway scenario, particularly in the context of overtaking maneuvers.

Domaines: Automatique

Turan Konyalıoğlu, Sorin Olaru, Silviu-Iulian Niculescu, Iris Ballesteros-Tolosana, Simon Mustaki. Convex lifting-based path planning for overtaking maneuver on highways. ECC 2024 - 22nd European Control Conference, Jun 2024, Stockholm, Sweden. ⟨hal-04565761⟩