MPTREE: Motion primitive tree exploration for trajectory planning with dynamic obstacle avoidance

The MPTREE is a motion primitive tree exploration algorithm for trajectory planning with dynamic obstacle avoidance. The algorithm is based on the exploration of the vehicle state space by means of a tree. The algorithm is able to generate trajectories in real-time and to avoid dynamic obstacles.

The motion planning and decision-making algorithms have to satisfy the following high level goals:

1. Generate trajectories (path plus speed profiles and actuation commands) to navigate autonomously in complex urban scenario.
2. Consider communicated by other vehicles or use advance motion prediction models of other road users.
3. Change the type of maneuver generated according to different vehicle categories (e.g. cars vs trucks) and according to different safety and comfort criteria.