210 Hits in 4.8 sec

Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception [article]

Zixu Zhang, Jaime F. Fisac
2021 arXiv   pre-print
Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories.  ...  This paper introduces a novel analytical approach that poses safe trajectory planning under occlusions as a hybrid zero-sum dynamic game between the autonomous vehicle (evader) and an initially hidden  ...  Based on this theoretical analysis we propose a novel occlusion-aware trajectory planning framework for autonomous vehicles that leverages this two-mode dynamic game structure.  ... 
arXiv:2105.08169v2 fatcat:xg63p4bc7ngprewhrtugjycxjm

Human-Like Motion Planning Based on Game Theoretic Decision Making

Annemarie Turnwald, Dirk Wollherr
2018 International Journal of Social Robotics  
Noncooperative games and the concept of a Nash equilibrium are used to formulate the decision process that describes human motion behavior while walking in a populated environment.  ...  This property can enhance human-robot interactions and is essential for a convincing computer animation of humans.  ...  Human-like, Interaction-aware Motion Planning Based on Game Theory We aim to reproduce human behavior by creating a motion planner that takes the interaction awareness of all agents into account and generates  ... 
doi:10.1007/s12369-018-0487-2 fatcat:3sgritpygrbkbppxzlslphhtxq

Decentralized Multi-agent Path Selection Using Minimal Information [chapter]

Andrew Kimmel, Kostas Bekris
2016 Springer Tracts in Advanced Robotics  
A method to compute the "interaction cost" of a path is proposed, which considers only the neighboring agents' observed positions.  ...  More complex scenes, however, are more challenging. This leads to a study of alternatives for decentralized path selection.  ...  performing sophisticated prediction [30, 32] , agent modeling [27, 28] , learning [13] or game-theoretic reasoning [15] .  ... 
doi:10.1007/978-4-431-55879-8_24 fatcat:2id7vwj52bfklgle7pduqp327e

Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction [article]

Haruki Nishimura and Boris Ivanovic and Adrien Gaidon and Marco Pavone and Mac Schwager
2020 arXiv   pre-print
Our modular approach decouples the crowd-robot interaction into learning-based prediction and model-based control, which is advantageous compared to end-to-end policy learning methods in that it allows  ...  A simulation study and a real-world experiment show that the proposed online framework can accomplish safe and efficient navigation while avoiding collisions with more than 50 humans in the scene.  ...  In future work, we plan to apply the RSSAC-Trajectron++ framework to vehicle dynamics and scenes with heterogeneous agents.  ... 
arXiv:2009.05702v1 fatcat:euuv7d3bebhipf6g7sds2ommki

Resolving Conflict in Decision-Making for Autonomous Driving [article]

Jack Geary and Subramanian Ramamoorthy and Henry Gouk
2021 arXiv   pre-print
Recent work on decision making and planning for autonomous driving has made use of game theoretic methods to model interaction between agents.  ...  Moreover, we propose Augmented Altruism, a novel approach to modelling interaction between players in a Stackelberg game, and show that it is less prone to conflict than previous techniques.  ...  ACKNOWLEDGEMENTS Jack Geary is supported by a postgraduate studentship sponsored by FiveAI Ltd.  ... 
arXiv:2009.06394v2 fatcat:ypsdvgsm5ra6tftd5zkxhbrdiy

Experimental Study of Automation to Support Time-Critical Replanning Decisions

Kip E. Johnson, James K. Kuchar, Charles M. Oman
2002 Proceedings of the Human Factors and Ergonomics Society Annual Meeting  
In general, what approach did you take in planning your route?  ...  The problem now is how to design the human-automation interaction to produce a clearly effective and beneficial system, a system that reduces total workload or increases situational awareness, without  ... 
doi:10.1177/154193120204600326 fatcat:gxrfic3effebtoneer4wciksl4

Planning and Robotics (Dagstuhl Seminar 17031)

Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, Andrea Orlandini, Marc Herbstritt
2017 Dagstuhl Reports  
The motivation for this seminar was to bring together researchers from the two communities and people from the Industry in order to foster a broader interest in the integration of planning and deliberation  ...  approaches to sensory-motor functions in robotics.  ...  Following this approach, we propose and discuss an interactive framework that combines human-aware planning, flexible and interactive plan execution, human monitoring, multimodal interaction, and task  ... 
doi:10.4230/dagrep.7.1.32 dblp:journals/dagstuhl-reports/GhallabHMWO17 fatcat:vqoj274bhbakvgovfljltfwqie

A Disaster Response System based on Human-Agent Collectives

Sarvapali D. Ramchurn, Trung Dong Huynh, Feng Wu, Yukki Ikuno, Jack Flann, Luc Moreau, Joel E. Fischer, Wenchao Jiang, Tom Rodden, Edwin Simpson, Steven Reece, Stephen Roberts (+1 others)
2016 The Journal of Artificial Intelligence Research  
Third, given the dynamic nature of a disaster space, and the uncertainties involved in performing rescue missions, information about the disaster space and the actors within it needs to be managed to ensure  ...  Specifically, we show how HAC-ER utilises crowdsourcing combined with machine learning to obtain most important situational awareness from large streams of reports posted by members of the public and trusted  ...  We also wish to thank RescueGlobal for their valuable feedback and for participating in our trials.  ... 
doi:10.1613/jair.5098 fatcat:rkr4ncivjbbj5pll2e6cqrymdy

Urban Rail Transit System Operation Optimization A Game Theoretical Methodology [article]

Jiao Ma, Changle Li, Weiwei Dong, Zhe Liu, Tom H. Luan, Lina Zhu, and Lei Xiong
2017 arXiv   pre-print
Therefore, a tradeoff between the interest of railway operator and the service quality of passengers needs to be addressed.  ...  ., rush and non-rush hours, the departure frequency at a site directly relates to perceived service quality of passengers; the high departure frequency, however, incurs more operation cost to URT.  ...  The waiting time cost and traveling comfort are considered to evaluate the passengers' benefit; • Game theoretic solution: different from the existing approaches, we introduce the game theory to model  ... 
arXiv:1701.01810v1 fatcat:nx54b3bsabam3l7gohv5yczcne

Core Challenges of Social Robot Navigation: A Survey [article]

Christoforos Mavrogiannis, Francesca Baldini, Allan Wang, Dapeng Zhao, Pete Trautman, Aaron Steinfeld, Jean Oh
2021 arXiv   pre-print
In this survey article, we organize existing challenges into a set of categories related to broader open problems in motion planning, behavior design, and evaluation methodologies.  ...  These challenges have motivated a great amount of research resulting in important developments for the fields of robotics and human-robot interaction over the past three decades.  ...  Acknowledgements This work was funded under grants from the Honda Research Institute USA, the National Science Foundation (NSF IIS-1734361), the National Institute on Disability, Independent Living, and  ... 
arXiv:2103.05668v2 fatcat:qc2mr4ssxbahxj5p4xzqexnhye

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TRO June 2021 962-978 RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

Recommendations for Model-Driven Paradigms for Integrated Approaches to Cyber Defense [article]

Mona Lange, Alexander Kott, Noam Ben-Asher, Wim Mees, Nazife Baykal, Cristian-Mihai Vidu, Matteo Merialdo, Marek Malowidzki, Bhopinder Madahar
2017 arXiv   pre-print
Such model-based approaches and analysis could be used to explore multiple alternative mitigation and work-around strategies and to select the optimal course of mitigating actions.  ...  This by any definition is a complex socio-technical system (of systems), and the level of detail of this class of problems ranges from the level of host and network events to the systems' functions up  ...  interactions between attackers and defenders and adversaries themselves: What are the effective high-level techniques and detailed game theoretic techniques for "war gaming" of a range of simple-to-complex  ... 
arXiv:1703.03306v1 fatcat:kf4exhn4enez7d2uzhaz2bahx4

Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, Julius Ziegler
2012 Proceedings of the IEEE  
In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human  ...  We have developed HERB 2.0 to perform useful tasks for and with people in human environments.  ...  The robot must predict the consequences of the physical interaction to find the right parameters of a push-grasp in a given scene.  ... 
doi:10.1109/jproc.2012.2200561 fatcat:uq2loi6okng6lasqrxerc4qn5e

Resource and Response Aware Path Planning for Long-term Autonomy of Ground Robots in Agriculture [article]

Stuart Eiffert, Nathan D. Wallace, He Kong, Navid Pirmarzdashti, Salah Sukkarieh
2021 arXiv   pre-print
This paper details the hierarchical approach and its integration on a robotic platform, including a comprehensive description of the planning framework and associated perception modules.  ...  This framework acts to achieve long-term autonomy through awareness of both dynamic responses of individuals to a robot's motion and the limited resources available.  ...  Khalid Rafique, Javier Martinez, Thomas Ingram, and Jeremy Randle-and to Asher Bender for his valuable advice.  ... 
arXiv:2105.10690v1 fatcat:3mfraomfjfcvndw3q2bm7nr674

IEEE Access Special Section Editorial: Collaboration for Internet of Things

Chunsheng Zhu, Vincenzo Piuri, Joel J. P. C. Rodrigues, Huansheng Ning, Huan Zhou, Zhangbing Zhou
2020 IEEE Access  
approach that is based on an improved genetic algorithm for a satellite downlink replanning problem, which can quickly complete the replanning of the downlink task sequence.  ...  Extensive simulations show that the scheme with the Stackelberg game approach is effective and efficient to secure Edge computing-based Internet of Vehicles against RSU hotspot attacks.  ... 
doi:10.1109/access.2020.3019908 fatcat:dnelxvm5rffolmijagpnnvx6m4
« Previous Showing results 1 — 15 out of 210 results