相关论文: Interaction-Aware Behavior Planning for Autonomous…

As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…

Attention mechanisms excel at learning sequential patterns by discriminating data based on relevance and importance. This provides state-of-the-art performance in advanced generative artificial intelligence models. This paper applies this…

Partially observable Markov decision processes (POMDPs) have recently become popular among many AI researchers because they serve as a natural model for planning under uncertainty. Value iteration is a well-known algorithm for finding…

Partially Observable Monte-Carlo Planning (POMCP) is a powerful online algorithm able to generate approximate policies for large Partially Observable Markov Decision Processes. The online nature of this method supports scalability by…

Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…

In the car-following scenarios, automated vehicles (AVs) usually plan motions without considering the impacts of their actions on the following human drivers. This paper aims to leverage such impacts to plan more efficient and socially…

In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other…

To plan safely in uncertain environments, agents must balance utility with safety constraints. Safe planning problems can be modeled as a chance-constrained partially observable Markov decision process (CC-POMDP) and solutions often use…

Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…

POMDPs capture a broad class of decision making problems, but hardness results suggest that learning is intractable even in simple settings due to the inherent partial observability. However, in many realistic problems, more information is…

This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffic participants by…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

As more and more autonomous vehicles (AVs) are being deployed on public roads, designing socially compatible behaviors for them is becoming increasingly important. In order to generate safe and efficient actions, AVs need to not only…

To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…

Human-robot collaboration (HRC) has emerged as a hot research area at the intersection of control, robotics, and psychology in recent years. It is of critical importance to obtain an expressive but meanwhile tractable model for human beings…

In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of…

Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…

Predicting and planning interactive behaviors in complex traffic situations presents a challenging task. Especially in scenarios involving multiple traffic participants that interact densely, autonomous vehicles still struggle to interpret…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…