# Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering

arXiv: https://arxiv.org/abs/2012.07170 · HTML: https://mlsanity.com/paper/2012.07170/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Dec 2020.

## Built on by (most cited first, 1 of 1)

- [LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving](https://mlsanity.com/paper/2101.06547/) (2021)

## Abstract (arXiv)

Motion planning involves decision making among combinatorial maneuver variants in urban driving. A planner must consider uncertainties and associated risks of the maneuver variants, and subsequently select a maneuver alternative. In this paper we present a planning approach that considers the uncertainties in the prediction and, in case of high uncertainty, postpones the combinatorial decision making to a later time within the planning horizon. With our proposed approach, safe but at the same time not overconservative motion is planned.