A POMDP Treatment of Vehicle-Pedestrian Interaction: Implicit Coordination via Uncertainty-Aware Planning
Ya-Chuan Hsu,Swaminathan Gopalswamy,Srikanth Saripalli,Dylan A. Shell,Ya-Chuan Hsu,Swaminathan Gopalswamy,Srikanth Saripalli,Dylan A. Shell
Drivers and other road users often encounter situations (e.g., arriving at an intersection simultaneously) where priority is ambiguous or unclear but must be resolved via communication to reach agreement. This poses a challenge for autonomous vehicles, for which no direct means for expressing intent and acknowledgment has yet been established. This paper contributes a minimal model to manage ambig...
