mlsanityData to 7 Oct 2026

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

arXiv 1604.07446 ↗First posted 25 Apr 2016cs.ROcited by 251

Not on the map. Why?

Cited by 85 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

Key facts. Cited by 251 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Apr 2016.

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Citing papers per year: 2019: 2; 2020: 2; 2021: 55; 2022: 31; 2023: 47; 2024: 48; 2025: 37; 2026: 29.

251 papers.

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  1. 2021End-to-end Interpretable Neural Motion Plannercited by 240
  2. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  3. 2024Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Drivingcited by 156
  4. 2025Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tailcited by 136
  5. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  6. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 112
  7. 2025AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoningcited by 108
  8. 2022PlanT: Explainable Planning Transformers via Object-Level Representationscited by 105
  9. 2024Towards learning-based planning:The nuPlan benchmark for real-world autonomous drivingcited by 103
  10. 2022Back to MLP: A Simple Baseline for Human Motion Predictioncited by 99
  11. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  12. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
38 more
  1. 2024DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mambacited by 87
  2. 2021Space-Time-Separable Graph Convolutional Network for Pose Forecastingcited by 84
  3. 2023HumanMAC: Masked Motion Completion for Human Motion Predictioncited by 81
  4. 2023Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveyscited by 75
  5. 2021Explainable Artificial Intelligence for Autonomous Driving: A Comprehensive Overview and Field Guide for Future Research Directionscited by 73
  6. 2023Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learningcited by 72
  7. 2025A Survey on Vision-Language-Action Models for Autonomous Drivingcited by 72
  8. 2021SafetyNet: Safe planning for real-world self-driving vehicles using machine-learned policiescited by 68
  9. 2021Generating Smooth Pose Sequences for Diverse Human Motion Predictioncited by 66
  10. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  11. 2025A Survey of World Models for Autonomous Drivingcited by 60
  12. 2021A Survey of Deep RL and IL for Autonomous Driving Policy Learningcited by 59
  13. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
  14. 2024Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Reviewcited by 52
  15. 2019Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safetycited by 48
  16. 2022Learning for Vehicle-to-Vehicle Cooperative Perception under Lossy Communicationcited by 47
  17. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  18. 2022Hierarchical Model-Based Imitation Learning for Planning in Autonomous Drivingcited by 43
  19. 2021Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learningcited by 41
  20. 2023Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challengescited by 39
  21. 2023Diverse Human Motion Prediction Guided by Multi-Level Spatial-Temporal Anchorscited by 34
  22. 2021Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehiclescited by 33
  23. 2023Adaptive Online Replanning with Diffusion Modelscited by 33
  24. 2023Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encodingcited by 32
  25. 2024WcDT: World-centric Diffusion Transformer for Traffic Scene Generationcited by 31
  26. 2019Driving with Style: Inverse Reinforcement Learning in General-Purpose Planning for Automated Drivingcited by 30
  27. 2024Multi-Agent Reinforcement Learning for Autonomous Driving: A Surveycited by 30
  28. 2022Human Joint Kinematics Diffusion-Refinement for Stochastic Motion Predictioncited by 28
  29. 2022Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Expertscited by 28
  30. 2023Stochastic Multi-Person 3D Motion Forecastingcited by 28
  31. 2022Contact-aware Human Motion Forecastingcited by 27
  32. 2021Federated Learning on the Road: Autonomous Controller Design for Connected and Autonomous Vehiclescited by 26
  33. 2021Improved Deep Reinforcement Learning with Expert Demonstrations for Urban Autonomous Drivingcited by 26
  34. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  35. 2025SimMotionEdit: Text-Based Human Motion Editing with Motion Similarity Predictioncited by 26
  36. 2021Integrated Decision and Control: Towards Interpretable and Computationally Efficient Driving Intelligencecited by 25
  37. 2025NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigationcited by 23
  38. 2021Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Modelscited by 22

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