相关论文: Autonomous Vehicle Convoy Control as a Differentia…
This paper investigates the encirclement control problem involving two groups using a non-cooperative differential game approach. The active group seeks to chase and encircle the passive group, while the passive group responds by fleeing…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
Recent advancements in vehicle autonomy have drawn interest in understanding the impact of autonomous vehicles on traffic systems. In this paper, we study a traffic assignment problem in a mixed-autonomy setting where both human-driven and…
Safe navigation in dense, urban driving environments remains an open problem and an active area of research. Unlike typical predict-then-plan approaches, game-theoretic planning considers how one vehicle's plan will affect the actions of…
Inspired by the path coordination problem arising from robo-taxis, warehouse management, and mixed-vehicle routing problems, we model a group of heterogeneous players responding to stochastic demands as a congestion game under Markov…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
This paper introduces decentralized control concepts for drones using differential game theory. The approach optimizes the behavior of an ego drone, assuming the anticipated behavior of the opponent drones using a receding horizon approach.…
Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions…
The distributed computation of a Nash equilibrium in aggregative games is gaining increased traction in recent years. Of particular interest is the mediator-free scenario where individual players only access or observe the decisions of…
With the practical implementation of connected and autonomous vehicles (CAVs), the traffic system is expected to remain a mix of CAVs and human-driven vehicles (HVs) for the foreseeable future. To enhance safety and traffic efficiency, the…
This paper develops a game-theoretic decision-making framework for autonomous driving in multi-agent scenarios. A novel hierarchical game-based decision framework is developed for the ego vehicle. This framework features an interaction…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
This paper studies game-theoretic decision-making for autonomous vehicles (AVs). A receding horizon multi-player game is formulated to model the AV decision-making problem. Two classes of games, including Nash game and Stackelber games, are…
In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination…
We examine the routing problem for self-interested vehicles using stochastic decision strategies. By approximating the road latency functions and a non-linear variable transformation, we frame the problem as an aggregative game. We…
Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer safe, scalable, and engaging settings for testing driving…
An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a team of air interceptors to protect a high value asset and…
In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…
To improve the safety and efficiency of the intelligent transportation system, particularly in complex urban scenarios, in this paper a game theoretic decision-making framework is designed for connected automated vehicles (CAVs) at…