相关论文: POMDP-Based Trajectory Planning for On-Ramp Highwa…

Autonomous agents that operate in the real world must often deal with partial observability, which is commonly modeled as partially observable Markov decision processes (POMDPs). However, traditional POMDP models rely on the assumption of…

Autonomous driving in a crowded environment, e.g., a busy traffic intersection, is an unsolved challenge for robotics. The robot vehicle must contend with a dynamic and partially observable environment, noisy sensors, and many agents. A…

We introduce a Transformer-based Reinforcement Learning framework for autonomous orbital collision avoidance that explicitly models the effects of partial observability and imperfect monitoring in space operations. The framework combines a…

Partially Observable Markov Decision Processes (POMDPs) can model complex sequential decision-making problems under stochastic and uncertain environments. A main reason hindering their broad adoption in real-world applications is the lack…

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming…

Many path-finding algorithms on graphs such as A* are sped up by using a heuristic function that gives lower bounds on the cost to reach the goal. Aiming to apply similar techniques to speed up sampling-based motion-planning algorithms, we…

Partially Observable Monte-Carlo Planning (POMCP) is a powerful online algorithm able to generate approximate policies for large Partially Observable Markov Decision Processes. The online nature of this method supports scalability by…

Understanding the merging behavior patterns at freeway on-ramps is important for assistanting the decisions of autonomous driving. This study develops a primitive-based framework to identify the driving patterns during merging processes and…

Highway on-ramp merging is of great challenge for autonomous vehicles (AVs), since they have to proactively interact with surrounding vehicles to enter the main road safely within limited time. However, existing decision-making algorithms…

In many practical settings control decisions must be made under partial/imperfect information about the evolution of a relevant state variable. Partially Observable Markov Decision Processes (POMDPs) is a relatively well-developed framework…

Active classification, i.e., the sequential decision-making process aimed at data acquisition for classification purposes, arises naturally in many applications, including medical diagnosis, intrusion detection, and object tracking. In this…

Bayesian Optimisation has gained much popularity lately, as a global optimisation technique for functions that are expensive to evaluate or unknown a priori. While classical BO focuses on where to gather an observation next, it does not…

Most reinforcement learning (RL) approaches for the decision-making of autonomous driving consider safety as a reward instead of a cost, which makes it hard to balance the tradeoff between safety and other objectives. Human risk preference…

Safe interaction with human drivers is one of the primary challenges for autonomous vehicles. In order to plan driving maneuvers effectively, the vehicle's control system must infer and predict how humans will behave based on their latent…

Continuous POMDPs with general belief-dependent rewards are notoriously difficult to solve online. In this paper, we present a complete provable theory of adaptive multilevel simplification for the setting of a given externally constructed…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

Search and rescue missions and surveillance require finding targets in a large area. These tasks often use unmanned aerial vehicles (UAVs) with cameras to detect and move towards a target. However, common UAV approaches make two simplifying…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…