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Title:

Rule-Compliant Multi-Agent Driving Corridor Generation using Reachable Sets and Combinatorial Negotiations

Document type:
Konferenzbeitrag
Author(s):
Tobias Mascetta, Edmond Irani Liu, Matthias Althoff
Abstract:
Multi-agent cooperative motion planning offers the potential to improve safety and the overall traffic flow. However, many approaches for multi-agent driving do not incorporate traffic rules or do not generalize to arbitrary scenarios. To address these open problems, we propose a novel method to negotiate individual rule-compliant driving corridors and independently plan trajectories for each controlled agent in them. We incorporate predictions into the conflict negotiation process to enable dec...     »
Keywords:
Motion Planning, Driving Corridors, Multi-Agent
Book / Congress title:
2024 IEEE Intelligent Vehicle Symposium (IV)
Year:
2024
TUM Institution:
Cyber-Physical Systems Group
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