Print Email Facebook Twitter Joint multi-policy behavior estimation and receding-horizon trajectory planning for automated urban driving Title Joint multi-policy behavior estimation and receding-horizon trajectory planning for automated urban driving Author Zhou, Bingyu (Student TU Delft) Schwarting, Wilko (Massachusetts Institute of Technology) Rus, Daniela (Massachusetts Institute of Technology) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Contributor Lynch, Kevin (editor) Date 2018 Abstract When driving in urban environments, an autonomous vehicle must account for the interaction with other traffic participants. It must reason about their future behavior, how its actions affect their future behavior, and potentiallyconsider multiple motion hypothesis. In this paper we introduce a method for joint behavior estimation and trajectory planning that models interaction and multi-policy decisionmaking. The method leverages Partially Observable Markov Decision Processes to estimate the behavior of other traffic participants given the planned trajectory for the ego-vehicle, and Receding-Horizon Control for generating safe trajectories for the ego-vehicle. To achieve safe navigation we introduce chance constraints over multiple motion policies in the recedinghorizon planner. These constraints account for uncertainty overthe behavior of other traffic participants. The method is capable of running in real-time and we show its performance and good scalability in simulated multi-vehicle intersection scenarios. To reference this document use: http://resolver.tudelft.nl/uuid:9ce9e93c-06b0-43c9-93b7-3f6d66085a1a DOI https://doi.org/10.1109/ICRA.2018.8461138 Publisher IEEE, Piscataway, NJ, USA Embargo date 2019-03-13 ISBN 978-1-5386-3081-5 Source Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2018) Event ICRA 2018: 2018 IEEE International Conference on Robotics and Automation, 2018-05-21 → 2018-05-25, Brisbane Convention & Exhibition Centre, Brisbane, Australia Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2018 Bingyu Zhou, Wilko Schwarting, Daniela Rus, J. Alonso-Mora Files PDF Joint_Multi_Policy_Behavi ... riving.pdf 2.04 MB Close viewer /islandora/object/uuid:9ce9e93c-06b0-43c9-93b7-3f6d66085a1a/datastream/OBJ/view