相关论文: Belief State Planning for Autonomously Navigating …

Dynamic scheduling of access to shared resources by autonomous systems is a challenging problem, characterized as being NP-hard. The complexity of this task leads to a combinatorial explosion of possibilities in highly dynamic systems where…

The modelling and simulation of the interaction among vehicles and pedestrians during cross-walking is an open challenge for both research and practical computational solutions supporting urban/traffic decision makers and managers. The…

Partially Observable Markov Decision Processes (POMDPs) model decision making under uncertainty. While there are many approaches to approximately solving POMDPs, we aim to address the problem of learning such models. In particular, we are…

Many state-of-the-art methods for safety assessment and motion planning for automated driving require estimation of the probability of collision (POC). To estimate the POC, a shape approximation of the colliding actors and probability…

Partially Observable Markov Decision Process (POMDP) is a framework applicable to many real world problems. In this work, we propose an approach to solve POMDPs with multimodal belief by relying on a policy that solves the fully observable…

In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way.…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

Efficient path optimization for drones in search and rescue operations faces challenges, including limited visibility, time constraints, and complex information gathering in urban environments. We present a comprehensive approach to…

Many processes, such as discrete event systems in engineering or population dynamics in biology, evolve in discrete space and continuous time. We consider the problem of optimal decision making in such discrete state and action space…

Partially Observable Markov Decision Process (POMDP) provides a principled and generic framework to model real world sequential decision making processes but yet remains unsolved, especially for high dimensional continuous space and unknown…

Partially observable Markov decision processes (POMDPs) provide a modeling framework for autonomous decision making under uncertainty and imperfect sensing, e.g. robot manipulation and self-driving cars. However, optimal control of POMDPs…

Estimating the current scene and understanding the potential maneuvers are essential capabilities of automated vehicles. Most approaches rely heavily on the correctness of maps, but neglect the possibility of outdated information. We…

Effective decision-making in autonomous driving relies on accurate inference of other traffic agents' future behaviors. To achieve this, we propose an online belief-update-based behavior prediction model and an efficient planner for…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

Partially Observable Monte Carlo Planning (POMCP) is an efficient solver for Partially Observable Markov Decision Processes (POMDPs). It allows scaling to large state spaces by computing an approximation of the optimal policy locally and…

This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a sequence of traffic…

Partially Observable Markov Decision Processes (POMDPs) are a natural and general model in reinforcement learning that take into account the agent's uncertainty about its current state. In the literature on POMDPs, it is customary to assume…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

This paper considers a half-duplex scenario where an interferer behaves according to a parametric model but the values of the model parameters are unknown. We explore the necessary number of sensing steps to gather sufficient knowledge…

Autonomous systems often have logical constraints arising, for example, from safety, operational, or regulatory requirements. Such constraints can be expressed using temporal logic specifications. The system state is often partially…