Worst-Case Hidden-Vehicle Trajectory Search in Spatiotemporal Occlusion Regions

arXiv:2609.20480 · cs.RO, cs.CR · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.CR

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 16 pages, 3 figures. Accepted at the ECCV 2026 Workshop on Safe and Defensive Autonomous Driving (SDAD) as an Oral Presentation; Best Paper Award. Workshop website: https://sdad.cc/papers.html

Project page: https://sdad.cc/papers.html

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• History-Conditioned Minimax Trajectory Search — 6× in this paper
• Actor — 3× in this paper · explained in 3 episodes
• Adversarial Search — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• IEEE Intelligent Vehicles Symposium — 3× in this paper
• International Conference on Robotics and Automation — 3× in this paper
• Verification — 3× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Active Perception — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• IEEE International Intelligent Transportation Systems Conference — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
• Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception

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