A controller for an agent of a group of agents, in particular for a group of autonomous or semi-autonomous vehicles, and to a computer program implementing such a controller. A temporal deep network for such a controller and to a method, a computer program and an apparatus for training the temporal deep network. The controller includes a temporal deep network designed to calculate a desired trajectory for the agent, a nonlinear model predictive controller designed to calculate commands for the agent based on the desired trajectory and desired trajectories of the other agents of the group of agents, and an augmented memory designed to integrate historic system states of the group of agents for the temporal deep network.
Deep learning based motion control of a group of autonomous vehicles
2024-10-01
Patent
Electronic Resource
English
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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