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Collaborative decision making for lane-free autonomous driving in the presence of uncertainty

Geronymakis Pavlos, Troullinos Dimitrios, Chalkiadakis Georgios, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/A3C89C5B-E5D6-4253-9285-28D9E53B56B4-
Identifierhttps://doi.org/10.1007/978-3-031-20614-6_10-
Identifierhttps://link.springer.com/chapter/10.1007/978-3-031-20614-6_10-
Languageen-
Extent17 pagesen
TitleCollaborative decision making for lane-free autonomous driving in the presence of uncertaintyen
CreatorGeronymakis Pavlosen
CreatorΓερωνυμακης Παυλοςel
CreatorTroullinos Dimitriosen
CreatorΤρουλλινος Δημητριοςel
CreatorChalkiadakis Georgiosen
CreatorΧαλκιαδακης Γεωργιοςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherSpringeren
Content SummaryThe recently introduced lane-free traffic paradigm removes the restrictions of the traffic lanes, so that autonomous vehicles can move anywhere laterally across the road’s width. Previous research in this domain has employed the celebrated max-plus message-passing algorithm in order to allow the coordination of all (connected and autonomous) vehicles in the environment. However, when allowing for the realistic perspective that there exist vehicles that are unable or unwilling to communicate with others, the uncertainty introduced renders the aforementioned coordination approach ineffective. To combat this, in this paper we adjust the Max-plus algorithm accordingly so that agents using max-plus for coordination can also observe and take into consideration independent agents via emulated messages. We put forward different methods to form these messages—namely the Maximax, Maximin, Hurwicz, Minimax Regret and Laplace decision-making criteria. Finally, we provide a thorough evaluation of our approach, including a detailed comparison of all criteria used for message-forming.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2023-01-05-
Date of Publication2022-
SubjectMax-plus algorithmen
SubjectLane-free trafficen
SubjectUncertaintyen
Bibliographic CitationP. Geronymakis, D. Troullinos, G. Chalkiadakis, and M. Papageorgiou, “Collaborative decision making for lane-free autonomous driving in the presence of uncertainty,” in Multi-Agent Systems, EUMAS 2022, vol. 13442, Lecture Notes in Computer Science, Cham, Switzerland: Springer Nature, 2022, pp. 171–187, doi: 10.1007/978-3-031-20614-6_10.en

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