Abstract This chapter presents multi-policy decision-making (MPDM): a novel approach to navigating in dynamic multi-agent environments. Rather than planning the trajectory of the robot explicitly, the planning process selects one of a set of closed-loop behaviors whose utility can be predicted through forward simulation that captures the complex interactions between the actions of these agents. These polices capture different high-level behavior and intentions, such as driving along a lane, turning at an intersection, or following pedestrians. We present two different scenarios where MPDM has been applied successfully: an autonomous driving environment models vehicle behavior for both our vehicle and nearby vehicles and a social environment, where multiple agents or pedestrians configure a dynamic environment for autonomous robot navigation. We present extensive validation for MPDM on both scenarios, using simulated and real-world experiments.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    MPDM: Multi-policy Decision-Making from Autonomous Driving to Social Robot Navigation


    Beteiligte:
    Cunningham, Alex G. (Autor:in) / Galceran, Enric (Autor:in) / Mehta, Dhanvin (Autor:in) / Ferrer, Gonzalo (Autor:in) / Eustice, Ryan M. (Autor:in) / Olson, Edwin (Autor:in)


    Erscheinungsdatum :

    2018-06-28


    Format / Umfang :

    23 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    MPDM: Multi-policy Decision Making From Autonomous Driving to Social Robot Navigation

    A. G. Cunningham / E. Galceran / D. Mehta et al. | NTIS | 2018


    Autonomous Driving Cars: Decision-Making

    Ramanathan, Prabhu / Kartik | Springer Verlag | 2020


    Continuous decision‐making for autonomous driving at intersections using deep deterministic policy gradient

    Li, Guofa / Li, Shenglong / Li, Shen et al. | Wiley | 2022

    Freier Zugriff


    Decision Making through Occluded Intersections for Autonomous Driving

    Lin, Xiao / Zhang, Jiucai / Shang, Jin et al. | IEEE | 2019