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

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Occlusion creates fundamental uncertainty in autonomous driving. Existing methods often propagate frame-wise hypotheses or optimize ego behavior against prescribed hidden-agent predictions, leaving the worst history-consistent interaction unexplored. We introduce History-Conditioned Minimax Trajectory Search (HC-MTS), which combines temporal occlusion reasoning with response-aware search. First, HC-MTS constructs finite hidden-state modes, each certified by a backward witness satisfying multi-frame visibility, occupancy, semantic-map support, and class-specific kinematic constraints. It then s

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