Paper

Waypoints Matter: A Systematic Study for Sampling-Based Trajectory Planning

arXiv:2606.06366v1 Announce Type: new Abstract: Real-time autonomous driving commonly relies on sampling-based trajectory planners that link candidate trajectories to target waypoints along the road centerline. The placement of these waypoints directly impacts both the existence and quality of feasible trajectories. Yet, its effect on planner performance remains largely unexplored. In this paper, we treat waypoint placement as a first-class design variable. We hold the trajectory primitive and candidate budget fixed, and systematically sweep three placement strategies (uniform spacing, an aug…

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