相关论文: Overtaking Maneuvers on a Nonplanar Racetrack

In many multiagent scenarios, agents distribute resources, such as time or energy, among several tasks. Having completed their tasks and generated profits, task payoffs must be divided among the agents in some reasonable manner. Cooperative…

In numerous positional games the identity of the winner is easily determined. In this case one of the more interesting questions is not {\em who} wins but rather {\em how fast} can one win. These type of problems were studied earlier for…

The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion planning scheme under reasonable vehicle-to-vehicle…

This paper presents an optimization framework to model Formula 1 racing dynamics, where multiple cars interact physically and strategically. Aerodynamic wake effects, trajectory optimization, and energy management are integrated by means of…

In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent…

We consider the problem of routing for logistics purposes, in a contested environment where an adversary attempts to disrupt the vehicle along the chosen route. We construct a game-theoretic model that captures the problem of optimal…

This work develops a control framework for the autonomous overtaking of connected and automated vehicles (CAVs) in a mixed traffic environment, where the overtaken vehicle is an unconnected but interactive human-driven vehicle. The proposed…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

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…

This paper presents two complementary frameworks to optimize Formula 1 race strategies, jointly accounting for energy allocation, tire wear and pit stop timing. First, the race scenario is modeled using lap time maps and a dynamic tire wear…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

This paper presents a game-theoretic strategy for racing, where the autonomous ego agent seeks to block a racing opponent that aims to overtake the ego agent. After a library of trajectory candidates and an associated reward matrix are…

We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…

This paper mainly focuses on solving the dynamic optimization of the planar controlled crowd motion models with obstacles which is an application of a class of optimal control problems governed by a general perturbed nonconvex sweeping…

Autonomous driving has become one of the most popular research topics within Artificial Intelligence. An autonomous vehicle is understood as a system that combines perception, decision-making, planning, and control. All of those tasks…

A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…

Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…

Game dynamics, which describe how agents' strategies evolve over time based on past interactions, can exhibit a variety of undesirable behaviours including convergence to suboptimal equilibria, cycling, and chaos. While central planners can…

Boltzmann equation requires some alternative simpler kinetic model like BGK to replace the collision term. Such a kinetic model which replaces the Boltzmann collision integral should preserve the basic properties and characteristics of the…