| Occulsion aware planning and control WA Silva, DD Anguelov, BI Zwiebel, J Kangaspunta US Patent 10,642,275, 2020 | 81 | 2020 |
| Occlusion aware planning WA Silva, DD Anguelov, BI Zwiebel, J Kangaspunta US Patent 11,048,265, 2021 | 52 | 2021 |
| Collision prediction and avoidance for vehicles JB Packer, Z Huang, WA Silva US Patent 11,001,256, 2021 | 41 | 2021 |
| Determining occupancy of occluded regions M Gier, WA Silva US Patent 11,016,492, 2021 | 39 | 2021 |
| Occlusion prediction and trajectory evaluation WA Silva, C Wang US Patent 11,188,082, 2021 | 36 | 2021 |
| Any-time path-planning: Time-varying wind field+ moving obstacles M Otte, W Silva, E Frew 2016 IEEE international conference on robotics and automation (ICRA), 2575-2582, 2016 | 36 | 2016 |
| Vehicle trajectory modification for following AE Beller, J Hudecek, WA Silva US Patent 11,110,922, 2021 | 30 | 2021 |
| Drive envelope determination T Caldwell, D Xie, WA Silva, AK Akella, JB Packer, R Zhang, M Kobilarov US Patent 10,614,717, 2020 | 22 | 2020 |
| State machine for obstacle avoidance M Gier, WA Silva US Patent 11,532,167, 2022 | 21 | 2022 |
| Vehicle collision avoidance based on perturbed object trajectories WA Silva, AK Akella US Patent 11,465,619, 2022 | 21 | 2022 |
| State machine for traversing junctions M Gier, L Ma, WA Silva US Patent 11,137,766, 2021 | 17 | 2021 |
| Implementing path planning and guidance layers for dynamic soaring and persistence missions W Silva, EW Frew, W Shaw-Cortez 2015 International conference on unmanned aircraft systems (ICUAS), 92-101, 2015 | 15 | 2015 |
| Lane handling for merge prior to turn T Caldwell, WA Silva, M Van Heukelom US Patent 11,353,874, 2022 | 13 | 2022 |
| Obstacle avoidance action M Gier, WA Silva US Patent 11,427,191, 2022 | 12 | 2022 |
| Vehicle controller simulations T Caldwell, JB Packer, WA Silva, R Zhang, G Garimella US Patent 11,565,709, 2023 | 10 | 2023 |
| Lane classification for improved vehicle handling T Caldwell, WA Silva, M Van Heukelom US Patent 11,468,773, 2022 | 8 | 2022 |
| Sharing occlusion data AK Akella, WA Silva, M Wimmershoff US Patent 11,513,519, 2022 | 7 | 2022 |
| Occulsion aware planning and control WA Silva, DD Anguelov, BI Zwiebel, J Kangaspunta US Patent 11,347,228, 2022 | 6 | 2022 |
| Junction queueing M Harmel, WA Silva US Patent 11,176,821, 2021 | 6 | 2021 |
| Vehicle trajectory modification for following AE Beller, J Hudecek, WA Silva US Patent 11,970,168, 2024 | 4 | 2024 |