mlsanityData to 7 Oct 2026

Planning and Learning: Path-Planning for Autonomous Vehicles, a Review of the Literature

arXiv 2207.13181 ↗First posted 26 Jul 2022cs.AIcited by 1

On the map: End-to-end autonomous driving → Imitation-learning end-to-end planners

Abstract (arXiv)

This short review aims to make the reader familiar with state-of-the-art works relating to planning, scheduling and learning. First, we study state-of-the-art planning algorithms. We give a brief introduction of neural networks. Then we explore in more detail graph neural networks, a recent variant of neural networks suited for processing graph-structured inputs. We describe briefly the concept of reinforcement learning algorithms and some approaches designed to date. Next, we study some successful approaches combining neural networks for path-planning. Lastly, we focus on temporal planning problems with uncertainty.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Placed in Imitation-learning end-to-end planners, one of 9 directions in End-to-end autonomous driving. Builds on 39 of its 117 references that are in the map. First posted on arXiv 26 Jul 2022.

Builds on

39 of 117 references.

References · 39

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,267
  3. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,282
  4. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  5. 2017Graph Attention Networkscited by 8,854
  6. 2017Mask R-CNNcited by 7,259
  7. 2017Inductive Representation Learning on Large Graphscited by 6,284
  8. 2014Fully Convolutional Networks for Semantic Segmentationcited by 4,845
  9. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,829
  10. 2014Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translationcited by 4,016
  11. 2017Neural Message Passing for Quantum Chemistrycited by 3,460
  12. 2013Playing Atari with Deep Reinforcement Learningcited by 3,211
27 more
  1. 2014Sequence to Sequence Learning with Neural Networkscited by 2,974
  2. 2016Convolutional Neural Networks on Graphs with Fast Localized Spectral Filteringcited by 2,085
  3. 2018Learning Latent Dynamics for Planning from Pixelscited by 1,221
  4. 2017Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecastingcited by 1,125
  5. 2013Spectral Networks and Locally Connected Networks on Graphscited by 1,097
  6. 2019Graph WaveNet for Deep Spatial-Temporal Graph Modelingcited by 820
  7. 2015Gated Graph Sequence Neural Networkscited by 792
  8. 2016Structured Sequence Modeling with Graph Convolutional Recurrent Networkscited by 273
  9. 2015Diffusion-Convolutional Neural Networkscited by 268
  10. 2015Structural-RNN: Deep Learning on Spatio-Temporal Graphscited by 234
  11. 2016Value Iteration Networkscited by 158
  12. 2018Adaptive Graph Convolutional Neural Networkscited by 155
  13. 2016Deep Variational Bayes Filters: Unsupervised Learning of State Space Models from Raw Datacited by 154
  14. 2019Self-Driving Cars: A Surveycited by 147
  15. 2016DESPOT: Online POMDP Planning with Regularizationcited by 105
  16. 2014Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristiccited by 50
  17. 2018On Improving Deep Reinforcement Learning for POMDPscited by 49
  18. 2014Theta*: Any-Angle Path Planning on Gridscited by 26
  19. 2019Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitationcited by 23
  20. 2019Learned Critical Probabilistic Roadmaps for Robotic Motion Planningcited by 18
  21. 2018Balancing Global Exploration and Local-connectivity Exploitation with Rapidly-exploring Random disjointed-Treescited by 8
  22. 2019Complexity Bounds for the Controllability of Temporal Networks with Conditions, Disjunctions, and Uncertaintycited by 3
  23. 2021Optimal Solving of Constrained Path-Planning Problems with Graph Convolutional Networks and Optimized Tree Searchcited by 3
  24. 2021Constrained Shortest Path Search with Graph Convolutional Neural Networkscited by 2
  25. 2021Learning-based Preference Prediction for Constrained Multi-Criteria Path-Planningcited by 2
  26. 2021Time-based Dynamic Controllability of Disjunctive Temporal Networks with Uncertainty: A Tree Search Approach with Graph Neural Network Guidancecited by 1
  27. 2022Solving Disjunctive Temporal Networks with Uncertainty under Restricted Time-Based Controllability using Tree Search and Graph Neural Networkscited by 1

Built on by

Cited by year

Citing papers per year: 2023: 1.

1 paper.

  1. 2023A supervised hybrid quantum machine learning solution to the emergency escape routing problemcited by 7

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  1. 2024Trajectory Planning for Autonomous Driving in Unstructured Scenarios Based on Graph Neural Network and Numerical Optimization
  2. 2021Learning off-road maneuver plans for autonomous vehicles
  3. 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspective
  4. 2021A Survey of Deep Reinforcement Learning Algorithms for Motion Planning and Control of Autonomous Vehicles
  5. 2022Learning-based Motion Planning in Dynamic Environments Using GNNs and Temporal Encoding
  6. 2021Closing the Planning-Learning Loop with Application to Autonomous Driving
  7. 2022Cooperative Behavior Planning for Automated Driving using Graph Neural Networks
  8. 2026Deep Reinforcement Learning: From First Principles to Reasoning Models ↗