相关论文: Cooperative Lane Changing via Deep Reinforcement L…

Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the…

In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…

Multi-task intersection navigation including the unprotected turning left, turning right, and going straight in dense traffic is still a challenging task for autonomous driving. For the human driver, the negotiation skill with other…

Our premise is that autonomous vehicles must optimize communications and motion planning jointly. Specifically, a vehicle must adapt its motion plan staying cognizant of communications rate related constraints and adapt the use of…

Transportation and traffic are currently undergoing a rapid increase in terms of both scale and complexity. At the same time, an increasing share of traffic participants are being transformed into agents driven or supported by artificial…

Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…

A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…

We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single…

This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…

Deep reinforcement learning algorithms can learn complex behavioral skills, but real-world application of these methods requires a large amount of experience to be collected by the agent. In practical settings, such as robotics, this…

Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments, safety requirements should be…

The transport capacity of a communication network can be characterized by the transition from a free-flow state to a congested state. Here, we propose a dynamic routing strategy in complex networks based on hierarchical bypass selections.…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

One of the main questions concerning learning in Multi-Agent Systems is: (How) can agents benefit from mutual interaction during the learning process?. This paper describes the study of an interactive advice-exchange mechanism as a possible…

This paper presents a model-free deep reinforcement learning framework for informative path planning with heterogeneous fleets of autonomous surface vehicles to locate and collect plastic waste. The system employs two teams of vehicles:…

This paper concerns automated vehicles negotiating with other vehicles, typically human driven, in crossings with the goal to find a decision algorithm by learning typical behaviors of other vehicles. The vehicle observes distance and speed…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

Collisions, crashes, and other incidents on road networks, if left unmitigated, can potentially cause cascading failures that can affect large parts of the system. Timely handling such extreme congestion scenarios is imperative to reduce…

When autonomous agents interact in the same environment, they must often cooperate to achieve their goals. One way for agents to cooperate effectively is to form a team, make a binding agreement on a joint plan, and execute it. However,…