相关论文: Regulation-Aware Game-Theoretic Motion Planning fo…

Game-theoretic approaches are envisioned to bring human-like reasoning skills and decision-making processes for autonomous vehicles (AVs). However, challenges including game complexity and incomplete information still remain to be addressed…

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…

Lane changes are complex safety and throughput critical driver actions. Most lane changing models deal with lane-changing maneuvers solely from the merging driver's standpoint and thus ignore driver interaction. To overcome this…

Dynamic games can be an effective approach for modeling interactive behavior between multiple competitive agents in autonomous racing and they provide a theoretical framework for simultaneous prediction and control in such scenarios. In…

A novel approach is provided for evaluating the benefits and burdens from vehicle modularity in fleets/units through the analysis of a game theoretical model of the competition between autonomous vehicle fleets in an attacker-defender game.…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…

In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

The integration of Autonomous Vehicles (AVs) into existing human-driven traffic systems poses considerable challenges, especially within environments where human and machine interactions are frequent and complex, such as at unsignalized…

We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the…

Path planning is a fundamental and extensively explored problem in robotic control. We present a novel economic perspective on path planning. Specifically, we investigate strategic interactions among path planning agents using a game…

Motion prediction systems aim to capture the future behavior of traffic scenarios enabling autonomous vehicles to perform safe and efficient planning. The evolution of these scenarios is highly uncertain and depends on the interactions of…

Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…

This paper presents a unified planning-control strategy for competing with other racing cars called IteraOptiRacing in autonomous racing environments. This unified strategy is proposed based on Iterative Linear Quadratic Regulator for…

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…

Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation, often integrated within larger Intelligent Transportation Systems (ITS). This problem is commonly…

A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…

This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…

Attention-based neural architectures have become central to state-of-the-art methods in real-time nonlinear control. As these data-driven models continue to be integrated into increasingly safety-critical domains, ensuring statistically…