相关论文: Non-zero-sum Game Control for Multi-vehicle Drivin…

We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative racing agents and demonstrate that by leveraging the novel…

Planning under social interactions with other agents is an essential problem for autonomous driving. As the actions of the autonomous vehicle in the interactions affect and are also affected by other agents, autonomous vehicles need to…

In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way.…

We consider the classic motion planning problem defined over a roadmap in which a vehicle seeks to find an optimal path from a source to a destination in presence of an attacker who can launch attacks on the vehicle over any edge of the…

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…

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…

Learning in zero-sum games studies a situation where multiple agents competitively learn their strategy. In such multi-agent learning, we often see that the strategies cycle around their optimum, i.e., Nash equilibrium. When a game…

In this paper, we investigate a competitive market involving two agents who consider both their own wealth and the wealth gap with their opponent. Both agents can invest in a financial market consisting of a risk-free asset and a risky…

Tactical decision making for autonomous driving is challenging due to the diversity of environments, the uncertainty in the sensor information, and the complex interaction with other road users. This paper introduces a general framework for…

In this paper, a multi-agent motion planning problem is studied aiming to minimize energy consumption of connected automated vehicles (CAVs) in lane change scenarios. We model this interactive motion planning as a generalized Nash…

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new…

Equilibrium modeling is common in a variety of fields such as game theory and transportation science. The inputs for these models, however, are often difficult to estimate, while their outputs, i.e., the equilibria they are meant to…

Deep reinforcement learning (DRL) has a great potential for solving complex decision-making problems in autonomous driving, especially in mixed-traffic scenarios where autonomous vehicles and human-driven vehicles (HDVs) drive together.…

Highway vehicular traffic is an inherently multi-agent problem. Traffic jams can appear and disappear mysteriously. We develop a method for traffic flow control that is applied at the vehicular level via mean-field games. We begin this work…

In this paper, we propose a Q-learning based decision-making framework to improve the safety and efficiency of Autonomous Vehicles when they encounter other maliciously behaving vehicles while passing through unsignalized intersections. In…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

Asymmetric damping is widely used in passive vehicle suspensions, with rebound damping often recommended to exceed compression damping by a factor of two to three. Despite its prevalence, this guideline remains largely empirical and lacks a…

In this work we discuss an Mean Field Games approach to traffic management on multi-lane roads. Such approach is particularly indicated to model self driven vehicles with perfect information of the domain. The mathematical interest of the…

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…

The development of autonomous vehicles has shown great potential to enhance the efficiency and safety of transportation systems. However, the decision-making issue in complex human-machine mixed traffic scenarios, such as unsignalized…