Looking for Trouble: Informative Planning for Safe Trajectories with Occlusions
Barry Gilhuly,Armin Sadeghi,Peyman Yedmellat,Kasra Rezaee,Stephen L. Smith,Barry Gilhuly,Armin Sadeghi,Peyman Yedmellat,Kasra Rezaee,Stephen L. Smith
Planning a safe trajectory for an ego vehicle through an environment with occluded regions is a challenging task. Existing methods use some combination of metrics to evaluate a trajectory, either taking a worst case view or allowing for some probabilistic estimate, to eliminate or minimize the risk of collision respectively. Typically, these approaches assume occluded regions of the environment ar...
