相关论文: Vector Cost Behavioral Planning for Autonomous Rob…
A data-based policy for iterative control task is presented. The proposed strategy is model-free and can be applied whenever safe input and state trajectories of a system performing an iterative task are available. These trajectories,…
Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (VINs) received much interest since---in contrast to standard…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Autonomous systems can substantially enhance a human's efficiency and effectiveness in complex environments. Machines, however, are often unable to observe the preferences of the humans that they serve. Despite the fact that the human's and…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
Support Vector Machine (SVM) is a powerful tool in binary classification, known to attain excellent misclassification rates. On the other hand, many realworld classification problems, such as those found in medical diagnosis, churn or fraud…
Interactive multi-agent simulation algorithms are used to compute the trajectories and behaviors of different entities in virtual reality scenarios. However, current methods involve considerable parameter tweaking to generate plausible…
Simulation is an essential tool to develop and benchmark autonomous vehicle planning software in a safe and cost-effective manner. However, realistic simulation requires accurate modeling of nuanced and complex multi-agent interactive…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
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…
To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…
High-performance autonomy often must operate at the boundaries of safety. When external agents are present in a system, the process of ensuring safety without sacrificing performance becomes extremely difficult. In this paper, we present an…
Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory…
In recent years, solving optimization problems involving black-box simulators has become a point of focus for the machine learning community due to their ubiquity in science and engineering. The simulators describe a forward process…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. Such estimates are essential for…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely…