Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Streichenberg,Elia Trevisan,Jen Jen Chung,Roland Siegwart,Javier Alonso-Mora,Lucas Streichenberg,Elia Trevisan,Jen Jen Chung,Roland Siegwart,Javier Alonso-Mora
Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a sampling-based method, namely Model Predictive Path Integral...
