# Safety and progress proofs for a reactive planner and controller for autonomous driving

arXiv: https://arxiv.org/abs/2107.05815 · HTML: https://mlsanity.com/paper/2107.05815/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Imitation-learning end-to-end planners, one of 9 directions in End-to-end autonomous driving.
- Builds on 1 of its 60 references that are in the map.
- First posted on arXiv 13 Jul 2021.

## Placed in

- End-to-end autonomous driving / [Imitation-learning end-to-end planners](https://mlsanity.com/driving/imitation-learning-end-to-end-planners/)

## Builds on (most cited first, 1 of 1)

- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)

## Abstract (arXiv)

In this paper, we perform safety and performance analysis of an autonomous vehicle that implements reactive planner and controller for navigating a race lap. Unlike traditional planning algorithms that have access to a map of the environment, reactive planner generates the plan purely based on the current input from sensors. Our reactive planner selects a waypoint on the local Voronoi diagram and we use a pure-pursuit controller to navigate towards the waypoint. Our safety and performance analysis has two parts. The first part demonstrates that the reactive planner computes a plan that is locally consistent with the Voronoi plan computed with full map. The second part involves modeling of the evolution of vehicle navigating along the Voronoi diagram as a hybrid automata. For proving the safety and performance specification, we compute the reachable set of this hybrid automata and employ some enhancements that make this computation easier. We demonstrate that an autonomous vehicle implementing our reactive planner and controller is safe and successfully completes a lap for five different circuits. In addition, we have implemented our planner and controller in a simulation environment as well as a scaled down autonomous vehicle and demonstrate that our planner works well for a wide variety of circuits.