Decision making in dynamic and interactive environments based on cognitive hierarchy theory, Bayesian inference, and predictive control

Autor:	Li, Sisi, Li, Nan, Girard, Anouck, Kolmanovsky, Ilya
Rok vydání:	2019
Předmět:	Computer Science - Artificial Intelligence Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	In this paper, we describe an integrated framework for autonomous decision making in a dynamic and interactive environment. We model the interactions between the ego agent and its operating environment as a two-player dynamic game, and integrate cognitive behavioral models, Bayesian inference, and receding-horizon optimal control to define a dynamically-evolving decision strategy for the ego agent. Simulation examples representing autonomous vehicle control in three traffic scenarios where the autonomous ego vehicle interacts with a human-driven vehicle are reported. Comment: 2019 IEEE Conference on Decision and Control
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1908.04005 Zobrazit plný text záznamu View this record from Arxiv