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In order to solve the problem of frequent deceleration of unmanned vehicles when approaching obstacles, this article uses a Deep Q-Network (DQN) and its extension, the Double Deep Q-Network (DDQN), to develop a local navigation system that…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Predicting pedestrian behavior when interacting with vehicles is one of the most critical challenges in the field of automated driving. Pedestrian crossing behavior is influenced by various interaction factors, including time to arrival,…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…

Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…

Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…

In this paper, we explore the application of the Decision Transformer, a decision-making algorithm based on the Generative Pre-trained Transformer (GPT) architecture, to multi-vehicle coordination at unsignalized intersections. We formulate…

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. With Deep Reinforcement Learning, optimal driving strategies…

Managing mixed traffic comprising human-driven and robot vehicles (RVs) across large-scale networks presents unique challenges beyond single-intersection control. This paper proposes a reinforcement learning framework for coordinating mixed…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…

A risk-averse preview-based $Q$-learning planner is presented for navigation of autonomous vehicles. To this end, the multi-lane road ahead of a vehicle is represented by a finite-state non-stationary Markov decision process (MDP). A risk…

Interest in emergent communication has recently surged in Machine Learning. The focus of this interest has largely been either on investigating the properties of the learned protocol or on utilizing emergent communication to better solve…

Predictions of driver's intentions and their behaviors using the road is of great importance for planning and decision making processes of autonomous driving vehicles. In particular, relatively short-term driving intentions are the…

We focus on the problem of predicting future states of entities in complex, real-world driving scenarios. Previous research has used low-level signals to predict short time horizons, and has not addressed how to leverage key assets relied…

To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially…