Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception
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Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception
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Author : Hubmann, Constantin
language : en
Publisher: KIT Scientific Publishing
Release Date : 2021-09-13
Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception written by Hubmann, Constantin and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-13 with Technology & Engineering categories.
This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.
Motion Planning For Autonomous Vehicles In Partially Observable Environments
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Author : Taş, Ömer Şahin
language : en
Publisher: KIT Scientific Publishing
Release Date : 2023-10-23
Motion Planning For Autonomous Vehicles In Partially Observable Environments written by Taş, Ömer Şahin and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-10-23 with categories.
This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.
Probabilistic Motion Planning For Automated Vehicles
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Author : Naumann, Maximilian
language : en
Publisher: KIT Scientific Publishing
Release Date : 2021-02-25
Probabilistic Motion Planning For Automated Vehicles written by Naumann, Maximilian and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-02-25 with Technology & Engineering categories.
In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.
Verhaltensentscheidung F R Automatisierte Fahrzeuge Mittels Arbitrationsgraphen
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Author : Orzechowski, Piotr Franciszek
language : de
Publisher: KIT Scientific Publishing
Release Date : 2024-01-25
Verhaltensentscheidung F R Automatisierte Fahrzeuge Mittels Arbitrationsgraphen written by Orzechowski, Piotr Franciszek and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-25 with categories.
In dieser Arbeit wird eine Systemarchitektur zur sicheren und robusten Verhaltensentscheidung für automatisierte Fahrzeuge vorgeschlagen. Diese setzt grundlegende Verhaltensoptionen in einem hierarchischen Arbitrationsgraphen zusammen und sichert dabei die Stellgrößen mittels Verifikation und diversen Rückfallebenen ab. Die vorgestellte Methode führt zu einer transparenten und nachvollziehbaren Entscheidungsfindung und erzeugt auch bei hohen Ausfallraten ein sicheres und stabiles Fahrverhalten. - This work proposes a system architecture for secure and robust behavioral decision-making for automated vehicles. It assembles basic behavior blocks in a hierarchical arbitration graph and ensures safety through verification and diverse levels of fallback. The presented method contributes to a transparent and comprehensible decision-making process and produces safe and stable driving behavior even at high failure rates.
Conception And Development Of An Interaction Framework For A Collaborative Assistance Vehicle
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Author : Mohsen Sefati
language : en
Publisher: Apprimus Wissenschaftsverlag
Release Date : 2021-04-23
Conception And Development Of An Interaction Framework For A Collaborative Assistance Vehicle written by Mohsen Sefati and has been published by Apprimus Wissenschaftsverlag this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-04-23 with Technology & Engineering categories.
This work presents a new concept of a Collaborative Assistance Vehicle with high interaction capabilities for collaboration with external users outside the vehicle. This work proposes a functional architecture for level 4 automated driving that focuses on an interaction framework, along with algorithmic solutions for implementing core function modules. Perception, command extraction, and behavior planning are part of the core function modules. All of these modules will be implemented and evaluated.
Surfing Uncertainty
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Author : Andy Clark
language : en
Publisher: Oxford University Press, USA
Release Date : 2016
Surfing Uncertainty written by Andy Clark and has been published by Oxford University Press, USA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Medical categories.
This title brings together work on embodiment, action, and the predictive mind. At the core is the vision of human minds as prediction machines - devices that constantly try to stay one step ahead of the breaking waves of sensory stimulation, by actively predicting the incoming flow. In every situation we encounter, that complex prediction machinery is already buzzing, proactively trying to anticipate the sensory barrage. The book shows in detail how this strange but potent strategy of self-anticipation ushers perception, understanding, and imagination simultaneously onto the cognitive stage.
Algorithmic Foundations Of Robotics X
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Author : Emilio Frazzoli
language : en
Publisher: Springer
Release Date : 2013-02-14
Algorithmic Foundations Of Robotics X written by Emilio Frazzoli and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-02-14 with Technology & Engineering categories.
Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.
The Darpa Urban Challenge
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Author : Martin Buehler
language : en
Publisher: Springer
Release Date : 2009-11-26
The Darpa Urban Challenge written by Martin Buehler and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-11-26 with Technology & Engineering categories.
By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
Probabilistic Robotics
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Author : Sebastian Thrun
language : en
Publisher: MIT Press
Release Date : 2005-08-19
Probabilistic Robotics written by Sebastian Thrun and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-08-19 with Technology & Engineering categories.
An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
Creating Autonomous Vehicle Systems
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Author : Shaoshan Liu
language : en
Publisher: Morgan & Claypool Publishers
Release Date : 2017-10-25
Creating Autonomous Vehicle Systems written by Shaoshan Liu and has been published by Morgan & Claypool Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-25 with Computers categories.
This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.