Publications

Generative Modeling with Safety

1. Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition

   Under review

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   Mao W, Li Z, Luo Y, et al. Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition[J]. arXiv preprint arXiv:2507.04384, 2025.

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   @article{mao2025rapid, title={Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition}, author={Mao, Wule and Li, Zhouheng and Luo, Yunhao and Du, Yilun and Xie, Lei}, journal={arXiv preprint arXiv:2507.04384}, year={2025} }

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   Wule Mao^*, Zhouheng Li^*, Yunhao Luo, Yilun Du, Lei Xie

Planning and Control

1. A Data-Driven Aggressive Autonomous Racing Framework Utilizing Local Trajectory Planning with Velocity Prediction

   ICRA 2025

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   Li Z, Zhou B, Hu C, et al. A Data-Driven Aggressive Autonomous Racing Framework Utilizing Local Trajectory Planning with Velocity Prediction[J]. arXiv preprint arXiv:2410.11570, 2024.

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   @article{li2024data, title={A Data-Driven Aggressive Autonomous Racing Framework Utilizing Local Trajectory Planning with Velocity Prediction}, author={Li, Zhouheng and Zhou, Bei and Hu, Cheng and Xie, Lei and Su, Hongye}, journal={arXiv preprint arXiv:2410.11570}, year={2024} }

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   Zhouheng Li, Bei Zhou, Cheng Hu, Lei Xie, Hongye Su

2. A rapid iterative trajectory planning method for automated parking through differential flatness

   RAS

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   Li Z, Xie L, Hu C, et al. A rapid iterative trajectory planning method for automated parking through differential flatness[J]. Robotics and Autonomous Systems, 2024, 182: 104816.

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   @article{li2024rapid, title={A rapid iterative trajectory planning method for automated parking through differential flatness}, author={Li, Zhouheng and Xie, Lei and Hu, Cheng and Su, Hongye}, journal={Robotics and Autonomous Systems}, volume={182}, pages={104816}, year={2024}, publisher={Elsevier} }

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   Zhouheng Li, Lei Xie, Cheng Hu, Hongye Su

3. Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method

   ITSC 2024

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   Li Z, Xie L, Hu C, et al. Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method[C]//2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2024: 1066-1073.

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   @inproceedings{li2024reduce, title={Reduce Lap Time for Autonomous Racing with Curvature-Integrated MPCC Local Trajectory Planning Method}, author={Li, Zhouheng and Xie, Lei and Hu, Cheng and Su, Hongye}, booktitle={2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)}, pages={1066--1073}, year={2024}, organization={IEEE} }

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   Zhouheng Li, Lei Xie, Cheng Hu, Hongye Su

4. An aggressive cornering framework for autonomous vehicles combining trajectory planning and drift control

   IV 2024

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   Weng W, Hu C, Li Z, et al. An aggressive cornering framework for autonomous vehicles combining trajectory planning and drift control[C]//2024 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2024: 2749-2755.

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   @inproceedings{weng2024aggressive, title={An aggressive cornering framework for autonomous vehicles combining trajectory planning and drift control}, author={Weng, Wangjia and Hu, Cheng and Li, Zhouheng and Su, Hongye and Xie, Lei}, booktitle={2024 IEEE Intelligent Vehicles Symposium (IV)}, pages={2749--2755}, year={2024}, organization={IEEE} }

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   Wangjia Weng, Cheng Hu, Zhouheng Li, Hongye Su, Lei Xie

5. Adaptive Learning-based Model Predictive Control Strategy for Drift Vehicles

   RAS

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   Zhou B, Hu C, Zeng J, et al. Adaptive learning-based model predictive control strategy for drift vehicles[J]. Robotics and Autonomous Systems, 2025: 104941.

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   @article{zhou2025adaptive, title={Adaptive learning-based model predictive control strategy for drift vehicles}, author={Zhou, Bei and Hu, Cheng and Zeng, Jun and Li, Zhouheng and Betz, Johannes and Xie, Lei and Su, Hongye}, journal={Robotics and Autonomous Systems}, pages={104941}, year={2025}, publisher={Elsevier} }

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   Bei Zhou, Cheng Hu, Jun Zeng, Zhouheng Li, Johannes Betz, Lei Xie, Hongye Su

6. A Learning-based Planning and Control Framework for Inertia Drift Vehicles

   ITSC 2025

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   Zhou B, Li Z, Xie L, et al. A Learning-based Planning and Control Framework for Inertia Drift Vehicles[J]. arXiv preprint arXiv:2507.05748, 2025.

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   @article{zhou2025learning, title={A Learning-based Planning and Control Framework for Inertia Drift Vehicles}, author={Zhou, Bei and Li, Zhouheng and Xie, Lei and Su, Hongye and Betz, Johannes}, journal={arXiv preprint arXiv:2507.05748}, year={2025} }

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   Bei Zhou, Zhouheng Li, Lei Xie, Hongye Su, Johannes Betz

7. Learning to Race in Extreme Turning Scene with Active Exploration and Gaussian Process Regression-based MPC

   IV 2025

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   Wu G, Hu C, Weng W, et al. Learning to Race in Extreme Turning Scene with Active Exploration and Gaussian Process Regression-based MPC[J]. arXiv preprint arXiv:2410.05740, 2024.

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   @article{wu2024learning, title={Learning to Race in Extreme Turning Scene with Active Exploration and Gaussian Process Regression-based MPC}, author={Wu, Guoqiang and Hu, Cheng and Weng, Wangjia and Li, Zhouheng and Fu, Yonghao and Xie, Lei and Su, Hongye}, journal={arXiv preprint arXiv:2410.05740}, year={2024} }

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   Guoqiang Wu^*, Cheng Hu^*, Wangjia Weng, Zhouheng Li, Yonghao Fu, Lei Xie, Hongye Su

8. An Overtaking Trajectory Planning Framework Based on Spatio-temporal Topology and Reachable Set Analysis Ensuring Time Efficiency

   Under review

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   Mao W, Li Z, Xie L, et al. An Overtaking Trajectory Planning Framework Based on Spatio-temporal Topology and Reachable Set Analysis Ensuring Time Efficiency[J]. arXiv preprint arXiv:2410.22643, 2024.

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   @article{mao2024overtaking, title={An Overtaking Trajectory Planning Framework Based on Spatio-temporal Topology and Reachable Set Analysis Ensuring Time Efficiency}, author={Mao, Wule and Li, Zhouheng and Xie, Lei and Su, Hongye}, journal={arXiv preprint arXiv:2410.22643}, year={2024} }

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   Wule Mao, Zhouheng Li, Lei Xie, Hongye Su