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CommonRoad: Composable benchmarks for motion planning on roads

https://doi.org/10.1109/ivs.2017.7995802

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What this work says

Outgoing claims: the papers this work cites, builds on, or argues with.

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Vehicle Dynamics and Control

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An insightful comparison between experiments in mobile robotics and in science

inferredcites →https://doi.org/10.1007/s11044-007-9037-7openalex-snapshot

real-time motion planning for multibody systems

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Reconfigurable control structure to prevent the rollover of heavy vehicles

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On the assessment of vehicle trajectory data accuracy and application to the Next Generation SIMulation (NGSIM) program data

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Automated vehicle control developments in the PATH program

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Optimal robot plant planning using the minimum-time criterion

inferredcites →https://doi.org/10.1109/70.75906openalex-snapshot

Dynamic motion planning of autonomous vehicles

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Design of emergency manoeuvres for automated highway system: obstacle avoidance problem

inferredcites →https://doi.org/10.1109/cdc.2011.6161521openalex-snapshot

Anytime computation of time-optimal off-road vehicle maneuvers using the RRT*

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A real-time motion planner with trajectory optimization for autonomous vehicles

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A benchmark suite for mobile robots

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Safe motion planning in dynamic environments

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The OpenGRASP benchmarking suite: An environment for the comparative analysis of grasping and dexterous manipulation

inferredcites →https://doi.org/10.1109/iros.2012.6386228openalex-snapshot

A generic infrastructure for benchmarking motion planners

inferredcites →https://doi.org/10.1109/iros.2012.6386237openalex-snapshot

A cost-aware path planning algorithm for mobile robots

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Collision Probability Assessment for Speed Control

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Driving risk assessment using cluster analysis based on naturalistic driving data

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Formalising Traffic Rules for Accountability of Autonomous Vehicles

inferredcites →https://doi.org/10.1109/itsc.2016.7795584openalex-snapshot

Need data for driver behaviour analysis? Presenting the public UAH-DriveSet

inferredcites →https://doi.org/10.1109/itsc.2016.7795594openalex-snapshot

Fail-safe motion planning of autonomous vehicles

inferredcites →https://doi.org/10.1109/ivs.2010.5547976openalex-snapshot

Fast collision checking for intelligent vehicle motion planning

inferredcites →https://doi.org/10.1109/ivs.2014.6856487openalex-snapshot

Lanelets: Efficient map representation for autonomous driving

inferredcites →https://doi.org/10.1109/ivs.2014.6856581openalex-snapshot

Trajectory planning for Bertha — A local, continuous method

inferredcites →https://doi.org/10.1109/ivs.2017.7995951openalex-snapshot

SPOT: A tool for set-based prediction of traffic participants

inferredcites →https://doi.org/10.1109/mra.2011.2181749openalex-snapshot

MoveIt! [ROS Topics]

inferredcites →https://doi.org/10.1109/mra.2012.2205651openalex-snapshot

The Open Motion Planning Library

inferredcites →https://doi.org/10.1109/mra.2015.2448276openalex-snapshot

Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization

inferredcites →https://doi.org/10.1109/mra.2015.2452073openalex-snapshot

Toward Replicable and Measurable Robotics Research [From the Guest Editors]

inferredcites →https://doi.org/10.1109/robot.2007.364047openalex-snapshot

OOPS for Motion Planning: An Online, Open-source, Programming System

inferredcites →https://doi.org/10.1109/robot.2009.5152709openalex-snapshot

The Columbia grasp database

inferredcites →https://doi.org/10.1109/robot.2009.5152817openalex-snapshot

CHOMP: Gradient optimization techniques for efficient motion planning

inferredcites →https://doi.org/10.1109/robot.2010.5509799openalex-snapshot

Optimal trajectory generation for dynamic street scenarios in a Frenét Frame

inferredcites →https://doi.org/10.1109/tcst.2007.894641openalex-snapshot

Control of Integrated Powertrain With Electronic Throttle and Automatic Transmission

inferredcites →https://doi.org/10.1109/tits.2008.922970openalex-snapshot

Learning, Modeling, and Classification of Vehicle Track Patterns from Live Video

inferredcites →https://doi.org/10.1109/tits.2009.2018966openalex-snapshot

Model-Based Probabilistic Collision Detection in Autonomous Driving

inferredcites →https://doi.org/10.1109/tits.2013.2270009openalex-snapshot

Vehicular Trajectory Optimization for Cooperative Collision Avoidance at High Speeds

inferredcites →https://doi.org/10.1109/tiv.2016.2578706openalex-snapshot

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

inferredcites →https://doi.org/10.1109/tiv.2016.2622920openalex-snapshot

Set-Based Prediction of Traffic Participants on Arbitrary Road Networks

inferredcites →https://doi.org/10.1109/tpami.2006.176openalex-snapshot

A system for learning statistical motion patterns

inferredcites →https://doi.org/10.1109/tro.2005.852260openalex-snapshot

Maneuver-based motion planning for nonlinear systems with symmetries

inferredcites →https://doi.org/10.1177/0278364913491297openalex-snapshot

Vision meets robotics: The KITTI dataset

inferredcites →https://doi.org/10.1504/ijvas.2010.035796openalex-snapshot

An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios

inferredcites →https://doi.org/10.2140/pjm.1990.145.367openalex-snapshot

Optimal paths for a car that goes both forwards and backwards

inferredcites →https://doi.org/10.23919/ecc.1999.7099370openalex-snapshot

Nonlinear steering and braking control for vehicle rollover avoidance

inferredcites →https://doi.org/10.48550/arxiv.1412.6673openalex-snapshot

An Extensible Benchmarking Infrastructure for Motion Planning Algorithms

What points at this work

Incoming claims: where this work appears in other papers’ reference lists and arguments.

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FISS+: Efficient and Focused Trajectory Generation and Refinement Using Fast Iterative Search and Sampling Strategy

inferred← citeshttps://doi.org/10.1109/iros55552.2023.10341689openalex-snapshot

SpeedFormer: Learning Speed Profiles with Upper and Lower Boundary Constraints Based on Transformer

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Arena-Rosnav 2.0: A Development and Benchmarking Platform for Robot Navigation in Highly Dynamic Environments

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Adaptive Splitting of Reusable Temporal Monitors for Rare Traffic Violations

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FPGA Hardware Neural Control of CartPole and F1TENTH Race Car

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Pursuit-Evasion for Car-like Robots with Sensor Constraints

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Arena-Bench 2.0: A Comprehensive Benchmark of Social Navigation Approaches in Collaborative Environments

inferred← citeshttps://doi.org/10.1109/iske47853.2019.9170398openalex-snapshot

Over-Approximation of the Driver Behavior as Occupancy Prediction

inferred← citeshttps://doi.org/10.1109/isrimt67769.2025.11413146openalex-snapshot

Direction Modulated Multi-agent Trajectory Prediction Based on Attention Mechanism

inferred← citeshttps://doi.org/10.1109/itsc.2017.8317647openalex-snapshot

Ensuring drivability of planned motions using formal methods

inferred← citeshttps://doi.org/10.1109/itsc.2017.8317765openalex-snapshot

Negotiation of drivable areas of cooperative vehicles for conflict resolution

inferred← citeshttps://doi.org/10.1109/itsc.2017.8317852openalex-snapshot

Interaction-aware occupancy prediction of road vehicles

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569332openalex-snapshot

Tackling Occlusions & Limited Sensor Range with Set-based Safety Verification

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569425openalex-snapshot

Computationally Efficient Fail-safe Trajectory Planning for Self-driving Vehicles Using Convex Optimization

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569434openalex-snapshot

Set-Based Prediction of Pedestrians in Urban Environments Considering Formalized Traffic Rules

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569448openalex-snapshot

High-level Decision Making for Safe and Reasonable Autonomous Lane Changing using Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569560openalex-snapshot

Tactical Decision Making for Cooperative Vehicles Using Reachable Sets

inferred← citeshttps://doi.org/10.1109/itsc.2018.8569950openalex-snapshot

Anytime Safety Verification of Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc.2019.8917226openalex-snapshot

Model-based Offline Vehicle Tracking in Automotive Applications Using a Precise 3D Model

inferred← citeshttps://doi.org/10.1109/itsc.2019.8917287openalex-snapshot

Computationally Efficient Safety Falsification of Adaptive Cruise Control Systems

inferred← citeshttps://doi.org/10.1109/itsc45102.2020.9294328openalex-snapshot

A Multi-Step Approach to Accelerate the Computation of Reachable Sets for Road Vehicles

inferred← citeshttps://doi.org/10.1109/itsc45102.2020.9294489openalex-snapshot

Search-based Test-CASe Generation by Monitoring Responsibility Safety Rules

inferred← citeshttps://doi.org/10.1109/itsc45102.2020.9294512openalex-snapshot

Overview of Tools Supporting Planning for Automated Driving

inferred← citeshttps://doi.org/10.1109/itsc45102.2020.9294715openalex-snapshot

Discovering Avoidable Planner Failures of Autonomous Vehicles using Counterfactual Analysis in Behaviorally Diverse Simulation

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9564432openalex-snapshot

Predictive Monitoring of Traffic Rules

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9564801openalex-snapshot

Sampling-Based Optimal Trajectory Generation for Autonomous Vehicles Using Reachable Sets

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9564885openalex-snapshot

CommonRoad Scenario Designer: An Open-Source Toolbox for Map Conversion and Scenario Creation for Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9564898openalex-snapshot

CommonRoad-RL: A Configurable Reinforcement Learning Environment for Motion Planning of Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9564934openalex-snapshot

Safely Learning Model Predictive Control with Time-Variant State Constraints and its Application to Motion Planning

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9565042openalex-snapshot

A Simulation-Based Benchmark for Behavioral Anomaly Detection in Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc48978.2021.9565060openalex-snapshot

Sampling-Based Trajectory Repairing for Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9921925openalex-snapshot

CommonOcean: Composable Benchmarks for Motion Planning on Oceans

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9922166openalex-snapshot

Safe Reinforcement Learning for Urban Driving using Invariably Safe Braking Sets

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9922232openalex-snapshot

CommonRoad-Reach: A Toolbox for Reachability Analysis of Automated Vehicles

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9922263openalex-snapshot

MONA: The Munich Motion Dataset of Natural Driving

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9922348openalex-snapshot

Artificial Intelligence in Engineering Education in the Case of Self-driving Vehicle Curriculum

inferred← citeshttps://doi.org/10.1109/itsc55140.2022.9922537openalex-snapshot

Semantic 3D Grid Maps for Autonomous Driving

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422040openalex-snapshot

A Risk Probability Predictor for Effective Downstream Planning Tasks

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422044openalex-snapshot

Map Verification and Repairing Using Formalized Map Specifications

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422092openalex-snapshot

Synthesizing Traffic Scenarios from Formal Specifications Using Reachability Analysis

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422130openalex-snapshot

Generation of Adversarial Trajectories using Reinforcement Learning to Test Motion Planning Algorithms

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422140openalex-snapshot

Graph-Based Autonomous Driving with Traffic-Rule-Enhanced Curriculum Learning

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422261openalex-snapshot

Improving Truck Merging at Ramps in a Mixed Traffic Environment: A Multi-human-in-the-loop (MHuiL) Approach

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422364openalex-snapshot

Robust Tunable Trajectory Repairing for Autonomous Vehicles Using Bernstein Basis Polynomials and Path-Speed Decoupling

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422422openalex-snapshot

Automatic Traffic Scenario Conversion from OpenSCENARIO to CommonRoad

inferred← citeshttps://doi.org/10.1109/itsc57777.2023.10422619openalex-snapshot

Lexicographic Mixed-Integer Motion Planning with STL Constraints

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919488openalex-snapshot

Formalizing Vocabulary for Scenario-Based Testing of Automated Driving Systems: From Semantics to Mathematics

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919754openalex-snapshot

Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919887openalex-snapshot

Deep Reinforcement Learning Based Tractor-Trailer Tracking Control

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10919949openalex-snapshot

DeepUrban: Interaction-Aware Trajectory Prediction and Planning for Automated Driving by Aerial Imagery

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920226openalex-snapshot

Dynamic Occupancy Set-Aware Planning for Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920239openalex-snapshot

A Hippocampus-Inspired Dynamic Planning Method for Overtaking Scenes via Predictive Map

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920252openalex-snapshot

Interaction-Aware Trajectory Repair in Compliance with Formalized Traffic Rules

inferred← citeshttps://doi.org/10.1109/itsc58415.2024.10920276openalex-snapshot

Safety Metric Aware Trajectory Repairing for Automated Driving

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423222openalex-snapshot

Maintaining Stability During Channel Switching in Multi-Channel Automated Driving Systems

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423226openalex-snapshot

Transformer-Based Assessment of Driving Corridors for Motion Planning of Automated Vehicles

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423486openalex-snapshot

From Words to Collisions: LLM-Guided Evaluation and Adversarial Generation of Safety-Critical Driving Scenarios

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423490openalex-snapshot

MultiDrive: A Co-Simulation Framework Bridging 2D and 3D Driving Simulation for AV Software Validation

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423569openalex-snapshot

Determining Invariably Rule-Compliant States for Motion Planning of Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423713openalex-snapshot

Efficient Driving Corridor Extraction for Autonomous Vehicles Using Best-First Reachability Analysis

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423753openalex-snapshot

MP-RBFN: Learning-Based Vehicle Motion Primitives Using Radial Basis Function Networks

inferred← citeshttps://doi.org/10.1109/itsc60802.2025.11423816openalex-snapshot

Closing the Loop: Motion Prediction Models Beyond Open-Loop Benchmarks

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304544openalex-snapshot

CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304549openalex-snapshot

Formalization of Interstate Traffic Rules in Temporal Logic

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304581openalex-snapshot

Provably-Safe Cooperative Driving via Invariably Safe Sets

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304619openalex-snapshot

A Curvilinear Decision Method for Two-lane Roundabout Crossing and its Validation under Realistic Traffic Flow

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304739openalex-snapshot

Minimisation of Motion Sickness in Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/iv47402.2020.9304756openalex-snapshot

How safe is safe enough? Automatic Safety Constraints Boundary Estimation for Decision-Making in Automated Vehicles

inferred← citeshttps://doi.org/10.1109/iv48863.2021.9575739openalex-snapshot

Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles

inferred← citeshttps://doi.org/10.1109/iv48863.2021.9575928openalex-snapshot

Risk-aware Motion Planning for Autonomous Vehicles with Safety Specifications

inferred← citeshttps://doi.org/10.1109/iv51971.2022.9827153openalex-snapshot

Formalization of Intersection Traffic Rules in Temporal Logic

inferred← citeshttps://doi.org/10.1109/iv51971.2022.9827171openalex-snapshot

Foresee the Unseen: Sequential Reasoning about Hidden Obstacles for Safe Driving

inferred← citeshttps://doi.org/10.1109/iv51971.2022.9827237openalex-snapshot

Stress Testing Autonomous Racing Overtake Maneuvers with RRT

inferred← citeshttps://doi.org/10.1109/iv51971.2022.9827299openalex-snapshot

CPM Olympics: Development of Scenarios for Benchmarking in Networked and Autonomous Driving

inferred← citeshttps://doi.org/10.1109/iv51971.2022.9827357openalex-snapshot

Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186546openalex-snapshot

Scenario-Based Decision-Making, Planning and Control for Interaction-Aware Autonomous Driving on Highways

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186623openalex-snapshot

A Scaled Experiment Platform to Study Interactions Between Humans and CAVs

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CoLD Fusion: A Real-time Capable Spline-based Fusion Algorithm for Collective Lane Detection

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186634openalex-snapshot

STRETCH: Generating Challenging Scenarios for Testing Collision Avoidance Systems

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186668openalex-snapshot

Learning and Adapting Behavior of Autonomous Vehicles through Inverse Reinforcement Learning

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186673openalex-snapshot

CommonRoad-CriMe: A Toolbox for Criticality Measures of Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/iv55152.2023.10186741openalex-snapshot

Geometric Deep Learning for Autonomous Driving: Unlocking the Power of Graph Neural Networks With CommonRoad-Geometric

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Residual Policy Learning for Vehicle Control of Autonomous Racing Cars

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588390openalex-snapshot

SIF-STGDAN: A Social Interaction Force Spatial-Temporal Graph Dynamic Attention Network for Decision-Making of Connected and Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588397openalex-snapshot

Scalable Radar-based Roadside Perception: Self-localization and Occupancy Heat Map for Traffic Analysis

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588423openalex-snapshot

Investigating Driving Interactions: A Robust Multi-Agent Simulation Framework for Autonomous Vehicles

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588481openalex-snapshot

Overcoming Blind Spots: Occlusion Considerations for Improved Autonomous Driving Safety

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588502openalex-snapshot

CARLOS: An Open, Modular, and Scalable Simulation Framework for the Development and Testing of Software for C-ITS

inferred← citeshttps://doi.org/10.1109/iv55156.2024.10588549openalex-snapshot

Specification-Compliant Reachability Analysis for Autonomous Vehicles Using On-the-Fly Model Checking

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