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MPDM: Multi-policy Decision Making From Autonomous Driving to Social Robot Navigation.
| 题名： | MPDM: Multi-policy Decision Making From Autonomous Driving to Social Robot Navigation. |
| 作者： | Cunningham, A. G.; Galceran, E.; Mehta, D.; Ferrer, G.; Eustice, R. M.; Olson, E. |
| 关键词： | Decision making, Autonomous systems, Control systems, Robots, Robot navigation, Autonomous navigation, Autonomous vehicles, Unmanned vehicles, Mpdm(multi policy decision making) |
| 摘要： | 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 capture 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 that 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. |
| 报告类型： | 科技报告 |
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