mlsanityData to 14 Oct 2026

PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians

arXiv 1805.11833 ↗First posted 30 May 2018cs.ROcited by 36

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Abstract (arXiv)

This paper presents a planning system for autonomous driving among many pedestrians. A key ingredient of our approach is PORCA, a pedestrian motion prediction model that accounts for both a pedestrian's global navigation intention and local interactions with the vehicle and other pedestrians. Unfortunately, the autonomous vehicle does not know the pedestrian's intention a priori and requires a planning algorithm that hedges against the uncertainty in pedestrian intentions. Our planning system combines a POMDP algorithm with the pedestrian motion model and runs in near real time. Experiments show that it enables a robot vehicle to drive safely, efficiently, and smoothly among a crowd with a density of nearly one person per square meter.

Key facts. Cited by 36 papers in the map (data through 14 Oct 2026). First posted on arXiv 30 May 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 6; 2022: 9; 2023: 9; 2024: 5; 2025: 4; 2026: 3.

36 papers.

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  1. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  2. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
  3. 2022Partially Observable Markov Decision Processes in Robotics: A Surveycited by 86
  4. 2022Adaptive Trajectory Prediction via Transferable GNNcited by 51
  5. 2023Social-Transmotion: Promptable Human Trajectory Predictioncited by 33
  6. 2023FEND: A Future Enhanced Distribution-Aware Contrastive Learning Framework for Long-tail Trajectory Predictioncited by 31
  7. 2021SSAGCN: Social Soft Attention Graph Convolution Network for Pedestrian Trajectory Predictioncited by 19
  8. 2024Progressive Pretext Task Learning for Human Trajectory Predictioncited by 16
  9. 2024Language-Driven Active Learning for Diverse Open-Set 3D Object Detectioncited by 15
  10. 2021Closing the Planning-Learning Loop with Application to Autonomous Drivingcited by 12
  11. 2024The Role of Predictive Uncertainty and Diversity in Embodied AI and Robot Learningcited by 11
  12. 2022D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lightscited by 10
24 more
  1. 2023MotionBEV: Attention-Aware Online LiDAR Moving Object Segmentation with Bird's Eye View based Appearance and Motion Featurescited by 10
  2. 2022Aware of the History: Trajectory Forecasting with the Local Behavior Datacited by 9
  3. 2023Social Motion Prediction with Cognitive Hierarchiescited by 9
  4. 2025BP-SGCN: Behavioral Pseudo-Label Informed Sparse Graph Convolution Network for Pedestrian and Heterogeneous Trajectory Predictioncited by 9
  5. 2023ForceFormer: Exploring Social Force and Transformer for Pedestrian Trajectory Predictioncited by 7
  6. 2021Navigation In Urban Environments Amongst Pedestrians Using Multi-Objective Deep Reinforcement Learningcited by 5
  7. 2022Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metricscited by 5
  8. 2021Reinforcement Learning based Negotiation-aware Motion Planning of Autonomous Vehiclescited by 4
  9. 2021Sliding Sequential CVAE with Time Variant Socially-aware Rethinking for Trajectory Predictioncited by 4
  10. 2022Intention-Aware Navigation in Crowds with Extended-Space POMDP Planningcited by 4
  11. 2023JRDB-Traj: A Dataset and Benchmark for Trajectory Forecasting in Crowdscited by 4
  12. 2024Multi-Camera Asynchronous Ball Localization and Trajectory Prediction with Factor Graphs and Human Posescited by 4
  13. 2025ViTE: Virtual Graph Trajectory Expert Router for Pedestrian Trajectory Predictioncited by 4
  14. 2023IA-LSTM: Interaction-Aware LSTM for Pedestrian Trajectory Predictioncited by 3
  15. 2024Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functionscited by 3
  16. 2023SG-LSTM: Social Group LSTM for Robot Navigation Through Dense Crowdscited by 2
  17. 2025Pedestrian-Aware Motion Planning for Autonomous Driving in Complex Urban Scenarioscited by 2
  18. 2022TPAD: Identifying Effective Trajectory Predictions Under the Guidance of Trajectory Anomaly Detection Modelcited by 1
  19. 2022ProspectNet: Weighted Conditional Attention for Future Interaction Modeling in Behavior Predictioncited by 1
  20. 2023EANet: Expert Attention Network for Online Trajectory Predictioncited by 1
  21. 2026ART: Adaptive Relational Transformer for Pedestrian Trajectory Prediction with Temporal-Aware Relationscited by 1
  22. 2025Trustworthy Pedestrian Trajectory Prediction via Pattern-Aware Interaction Modelingcited by 0
  23. 2026Think When It Matters: Conditional VLM Reasoning for Social Navigation with RL Policiescited by 0
  24. 2026TSCA-Net: Temporal-Spatial Clique Attention for Interpretable Multimodal Pedestrian Trajectory Predictioncited by 0