Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Sushant Veer,Karen Leung,Ryan K. Cosner,Yuxiao Chen,Peter Karkus,Marco Pavone,Sushant Veer,Karen Leung,Ryan K. Cosner,Yuxiao Chen,Peter Karkus,Marco Pavone
Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming the brakes. To resolve such conflicts, assigning importance ranking to rules (i.e., imposing a rule hierarchy) has been proposed, which, in turn, induces rankings on trajectories based on the importance of the rules they...
