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Intention-aware online POMDP planning for autonomous driving in a crowd
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
This paper presents an intention-aware online planning approach for autonomous driving amid many pedestrians. To drive near pedestrians safely, efficiently, and smoothly, autonomous vehicles must estimate unknown pedestrian intentions and hedge against the uncertainty in intention estimates in order to choose actions that are effective and robust. A key feature of our approach is to use the partially observable Markov decision process (POMDP) for systematic, robust decision making under
doi:10.1109/icra.2015.7139219
dblp:conf/icra/BaiCYHL15
fatcat:7cm5hcotq5ehhiih2cq6ve3diy