相关论文: Planning for Automated Vehicles with Human Trust

Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…

Markov Decision Processes (MDPs) are a popular class of models suitable for solving control decision problems in probabilistic reactive systems. We consider parametric MDPs (pMDPs) that include parameters in some of the transition…

We consider a class of partially observable Markov decision processes (POMDPs) with uncertain transition and/or observation probabilities. The uncertainty takes the form of probability intervals. Such uncertain POMDPs can be used, for…

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

Trust calibration presents a main challenge during the interaction between drivers and automated vehicles (AVs). In order to calibrate trust, it is important to measure drivers' trust in real time. One possible method is through modeling…

Ensuring operational control over automated vehicles is not trivial and failing to do so severely endangers the lives of road users. An integrated approach is necessary to ensure that all agents play their part including drivers, occupants,…

Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…

We present a novel hybrid learning-assisted planning method, named HyPlan, for solving the collision-free navigation problem for self-driving cars in partially observable traffic environments. HyPlan combines methods for multi-agent…

Strategies for partially observable Markov decision processes (POMDP) typically require memory. One way to represent this memory is via automata. We present a method to learn an automaton representation of a strategy using a modification of…

We describe a probabilistic framework for synthesizing control policies for general multi-robot systems, given environment and sensor models and a cost function. Decentralized, partially observable Markov decision processes (Dec-POMDPs) are…

Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…

Decision-making under uncertainty is a critical aspect of many practical autonomous systems due to incomplete information. Partially Observable Markov Decision Processes (POMDPs) offer a mathematically principled framework for formulating…

Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…

It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving…

Attention control is a key cognitive ability for humans to select information relevant to the current task. This paper develops a computational model of attention and an algorithm for attention-based probabilistic planning in Markov…

Partially Observable Markov Decision Processes (POMDPs) provide a principled mathematical framework for decision-making under uncertainty. However, the exact solution to POMDPs is computationally intractable. In this paper, we address the…

Trust calibration is necessary to ensure appropriate user acceptance in advanced automation technologies. A significant challenge to achieve trust calibration is to quantitatively estimate human trust in real-time. Although multiple trust…

Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…

In this work, we study the problem of actively classifying the attributes of dynamical systems characterized as a finite set of Markov decision process (MDP) models. We are interested in finding strategies that actively interact with the…