相关论文: Overtaking Maneuvers on a Nonplanar Racetrack

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

An open problem in autonomous driving research is modeling human driving behavior, which is needed for the planning component of the autonomy stack, safety validation through traffic simulation, and causal inference for generating…

Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can…

We study a pursuit-evasion game between two players with car-like dynamics and sensing limitations by formalizing it as a partially observable stochastic zero-sum game. The partial observability caused by the sensing constraints is…

We develop the linear programming approach to mean-field games in a general setting. This relaxed control approach allows to prove existence results under weak assumptions, and lends itself well to numerical implementation. We consider…

In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains…

We propose a tactical homotopy-aware decision-making framework for game-theoretic motion planning in urban environments. We model urban driving as a generalized Nash equilibrium problem and employ a mixed-integer approach to tame the…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

We develop a generic computational model that can be used effectively for establishing the existence of winning strategies for concrete finite combinatorial games. Our modelling is (equational) logic-based involving advanced techniques from…

In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge…

Decision-making for autonomous driving is challenging, considering the complex interactions among multiple traffic agents (e.g., autonomous vehicles (AVs), human drivers, and pedestrians) and the computational load needed to evaluate these…

Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective…

This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

Profit-sharing is needed within platoons in order for competing transportation companies to collaborate in forming platoons. In this paper, we propose distribution models of the profit designed for vehicles that are located at the same…

The goal of the paper is to introduce a set of problems which we call mean field games of timing. We motivate the formulation by a dynamic model of bank run in a continuous-time setting. We briefly review the economic and game theoretic…

Operating vehicles in adversarial environments between a recurring origin-destination pair requires new planning techniques. A two players zero-sum game is introduced. The goal of the first player is to minimize the expected casualties…

This paper presents an approach that brings together game theory with grammatical inference and discrete abstractions in order to synthesize control strategies for hybrid dynamical systems performing tasks in partially unknown but…