RSS 2021 - Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception - Supplementary

RSS 2021 - Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception - Supplementary

Safe Robotics Lab

54 года назад

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This supplementary video accompanies the research paper "Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception", published at the 2021 Robotics: Science and Systems conference.

The video demonstrates the game-theoretic occlusion-aware motion planner in a range of highway and urban driving situations with limited visibility. Our proposed scheme keeps track of the set of possible states of a potential hidden object, and generates safe and efficient trajectory plans by accounting for the autonomous vehicle's future ability to (1) obtain new sensory information and (2) actively avoid collisions with any newly detected object.
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