相关论文: Deep Interactive Motion Prediction and Planning: P…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…

Autonomous vehicles need to abide by the same rules that humans follow. Some of these traffic rules may depend on multiple agents or time. Especially in situations with traffic participants that interact densely, the interactions with other…

Learning competitive behaviors in multi-agent settings such as racing requires long-term reasoning about potential adversarial interactions. This paper presents Deep Latent Competition (DLC), a novel reinforcement learning algorithm that…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

Traffic scenarios are inherently interactive. Multiple decision-makers predict the actions of others and choose strategies that maximize their rewards. We view these interactions from the perspective of game theory which introduces various…

In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…

Interactive driving scenarios, such as lane changes, merges and unprotected turns, are some of the most challenging situations for autonomous driving. Planning in interactive scenarios requires accurately modeling the reactions of other…

A fundamental challenge in multiagent reinforcement learning is to learn beneficial behaviors in a shared environment with other simultaneously learning agents. In particular, each agent perceives the environment as effectively…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

Human behavior in interactive settings is shaped not only by individual objectives but also by shared constraints with others, such as safety. Understanding how people allocate responsibility, i.e., how much one deviates from their desired…

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…

The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…

General-purpose trajectory planning algorithms for automated driving utilize complex reward functions to perform a combined optimization of strategic, behavioral, and kinematic features. The specification and tuning of a single reward…

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination,…

We develop a deep generative model built on a fully differentiable simulator for multi-agent trajectory prediction. Agents are modeled with conditional recurrent variational neural networks (CVRNNs), which take as input an ego-centric…

Accurate motion prediction of surrounding agents is crucial for the safe planning of autonomous vehicles. Recent advancements have extended prediction techniques from individual agents to joint predictions of multiple interacting agents,…

To safely and efficiently solve motion planning problems in multi-agent settings, most approaches attempt to solve a joint optimization that explicitly accounts for the responses triggered in other agents. This often results in solutions…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…