Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception

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Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception

Hubmann, Constantin
Belief State Planning for Autonomous Driving Planning with Interaction Uncertain Prediction and Uncertain Perception Book PDF

Author : Hubmann, Constantin
Publisher : KIT Scientific Publishing
Page : 178 pages
File Size : 47,5 Mb
Release : 2021-09-13
Category : Technology & Engineering
ISBN : 9783731510390

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Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception by Hubmann, Constantin Pdf

This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.

Motion Planning for Autonomous Vehicles in Partially Observable Environments

Taş, Ömer Şahin
Motion Planning for Autonomous Vehicles in Partially Observable Environments Book PDF

Author : Taş, Ömer Şahin
Publisher : KIT Scientific Publishing
Page : 222 pages
File Size : 45,9 Mb
Release : 2023-10-23
Category : Electronic
ISBN : 9783731512998

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Motion Planning for Autonomous Vehicles in Partially Observable Environments by Taş, Ömer Şahin Pdf

This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.

Probabilistic Motion Planning for Automated Vehicles

Naumann, Maximilian
Probabilistic Motion Planning for Automated Vehicles Book PDF

Author : Naumann, Maximilian
Publisher : KIT Scientific Publishing
Page : 192 pages
File Size : 44,8 Mb
Release : 2021-02-25
Category : Technology & Engineering
ISBN : 9783731510703

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Probabilistic Motion Planning for Automated Vehicles by Naumann, Maximilian Pdf

In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.

Surfing Uncertainty

Andy Clark
Surfing Uncertainty Book PDF

Author : Andy Clark
Publisher : Oxford University Press, USA
Page : 425 pages
File Size : 55,5 Mb
Release : 2016
Category : Medical
ISBN : 9780190217013

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Surfing Uncertainty by Andy Clark Pdf

This title brings together work on embodiment, action, and the predictive mind. At the core is the vision of human minds as prediction machines - devices that constantly try to stay one step ahead of the breaking waves of sensory stimulation, by actively predicting the incoming flow. In every situation we encounter, that complex prediction machinery is already buzzing, proactively trying to anticipate the sensory barrage. The book shows in detail how this strange but potent strategy of self-anticipation ushers perception, understanding, and imagination simultaneously onto the cognitive stage.

Neuro-Symbolic Artificial Intelligence: The State of the Art

P. Hitzler
Neuro Symbolic Artificial Intelligence The State of the Art Book PDF

Author : P. Hitzler
Publisher : IOS Press
Page : 410 pages
File Size : 48,8 Mb
Release : 2022-01-19
Category : Computers
ISBN : 9781643682457

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Neuro-Symbolic Artificial Intelligence: The State of the Art by P. Hitzler Pdf

Neuro-symbolic AI is an emerging subfield of Artificial Intelligence that brings together two hitherto distinct approaches. ”Neuro” refers to the artificial neural networks prominent in machine learning, ”symbolic” refers to algorithmic processing on the level of meaningful symbols, prominent in knowledge representation. In the past, these two fields of AI have been largely separate, with very little crossover, but the so-called “third wave” of AI is now bringing them together. This book, Neuro-Symbolic Artificial Intelligence: The State of the Art, provides an overview of this development in AI. The two approaches differ significantly in terms of their strengths and weaknesses and, from a cognitive-science perspective, there is a question as to how a neural system can perform symbol manipulation, and how the representational differences between these two approaches can be bridged. The book presents 17 overview papers, all by authors who have made significant contributions in the past few years and starting with a historic overview first seen in 2016. With just seven months elapsed from invitation to authors to final copy, the book is as up-to-date as a published overview of this subject can be. Based on the editors’ own desire to understand the current state of the art, this book reflects the breadth and depth of the latest developments in neuro-symbolic AI, and will be of interest to students, researchers, and all those working in the field of Artificial Intelligence.

Probabilistic Robotics

Sebastian Thrun,Wolfram Burgard,Dieter Fox
Probabilistic Robotics Book PDF

Author : Sebastian Thrun,Wolfram Burgard,Dieter Fox
Publisher : MIT Press
Page : 668 pages
File Size : 54,7 Mb
Release : 2005-08-19
Category : Technology & Engineering
ISBN : 9780262201629

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Probabilistic Robotics by Sebastian Thrun,Wolfram Burgard,Dieter Fox Pdf

An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Autonomous Driving

Markus Maurer,J. Christian Gerdes,Barbara Lenz,Hermann Winner
Autonomous Driving Book PDF

Author : Markus Maurer,J. Christian Gerdes,Barbara Lenz,Hermann Winner
Publisher : Springer
Page : 706 pages
File Size : 46,7 Mb
Release : 2016-05-21
Category : Technology & Engineering
ISBN : 9783662488478

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Autonomous Driving by Markus Maurer,J. Christian Gerdes,Barbara Lenz,Hermann Winner Pdf

This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".

The 2005 DARPA Grand Challenge

Martin Buehler,Karl Iagnemma,Sanjiv Singh
The 2005 DARPA Grand Challenge Book PDF

Author : Martin Buehler,Karl Iagnemma,Sanjiv Singh
Publisher : Springer Science & Business Media
Page : 1103 pages
File Size : 46,8 Mb
Release : 2007-09-06
Category : Technology & Engineering
ISBN : 9783540734284

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The 2005 DARPA Grand Challenge by Martin Buehler,Karl Iagnemma,Sanjiv Singh Pdf

The DARPA Grand Challenge was a landmark in the field of robotics: a race by autonomous vehicles through 132 miles of rough Nevada terrain. It showcased exciting and unprecedented capabilities in robotic perception, navigation, and control. The event took place in October 2005 and drew teams of competitors from academia and industry, as well as many garage hobbyists. This book presents fifteen technical papers that describe each team's driverless vehicle, race strategy, and insights. As a whole, they present the state of the art in autonomous vehicle technology and offer a glimpse of future technology for tomorrow’s driverless cars.

Algorithms for Decision Making

Mykel J. Kochenderfer,Tim A. Wheeler,Kyle H. Wray
Algorithms for Decision Making Book PDF

Author : Mykel J. Kochenderfer,Tim A. Wheeler,Kyle H. Wray
Publisher : MIT Press
Page : 701 pages
File Size : 52,6 Mb
Release : 2022-08-16
Category : Computers
ISBN : 9780262047012

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Algorithms for Decision Making by Mykel J. Kochenderfer,Tim A. Wheeler,Kyle H. Wray Pdf

A broad introduction to algorithms for decision making under uncertainty, introducing the underlying mathematical problem formulations and the algorithms for solving them. Automated decision-making systems or decision-support systems—used in applications that range from aircraft collision avoidance to breast cancer screening—must be designed to account for various sources of uncertainty while carefully balancing multiple objectives. This textbook provides a broad introduction to algorithms for decision making under uncertainty, covering the underlying mathematical problem formulations and the algorithms for solving them. The book first addresses the problem of reasoning about uncertainty and objectives in simple decisions at a single point in time, and then turns to sequential decision problems in stochastic environments where the outcomes of our actions are uncertain. It goes on to address model uncertainty, when we do not start with a known model and must learn how to act through interaction with the environment; state uncertainty, in which we do not know the current state of the environment due to imperfect perceptual information; and decision contexts involving multiple agents. The book focuses primarily on planning and reinforcement learning, although some of the techniques presented draw on elements of supervised learning and optimization. Algorithms are implemented in the Julia programming language. Figures, examples, and exercises convey the intuition behind the various approaches presented.

Decision Making Under Uncertainty

Mykel J. Kochenderfer
Decision Making Under Uncertainty Book PDF

Author : Mykel J. Kochenderfer
Publisher : MIT Press
Page : 350 pages
File Size : 55,5 Mb
Release : 2015-07-24
Category : Computers
ISBN : 9780262331715

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Decision Making Under Uncertainty by Mykel J. Kochenderfer Pdf

An introduction to decision making under uncertainty from a computational perspective, covering both theory and applications ranging from speech recognition to airborne collision avoidance. Many important problems involve decision making under uncertainty—that is, choosing actions based on often imperfect observations, with unknown outcomes. Designers of automated decision support systems must take into account the various sources of uncertainty while balancing the multiple objectives of the system. This book provides an introduction to the challenges of decision making under uncertainty from a computational perspective. It presents both the theory behind decision making models and algorithms and a collection of example applications that range from speech recognition to aircraft collision avoidance. Focusing on two methods for designing decision agents, planning and reinforcement learning, the book covers probabilistic models, introducing Bayesian networks as a graphical model that captures probabilistic relationships between variables; utility theory as a framework for understanding optimal decision making under uncertainty; Markov decision processes as a method for modeling sequential problems; model uncertainty; state uncertainty; and cooperative decision making involving multiple interacting agents. A series of applications shows how the theoretical concepts can be applied to systems for attribute-based person search, speech applications, collision avoidance, and unmanned aircraft persistent surveillance. Decision Making Under Uncertainty unifies research from different communities using consistent notation, and is accessible to students and researchers across engineering disciplines who have some prior exposure to probability theory and calculus. It can be used as a text for advanced undergraduate and graduate students in fields including computer science, aerospace and electrical engineering, and management science. It will also be a valuable professional reference for researchers in a variety of disciplines.

The DARPA Urban Challenge

Martin Buehler,Karl Iagnemma,Sanjiv Singh
The DARPA Urban Challenge Book PDF

Author : Martin Buehler,Karl Iagnemma,Sanjiv Singh
Publisher : Springer
Page : 628 pages
File Size : 48,9 Mb
Release : 2009-11-26
Category : Technology & Engineering
ISBN : 9783642039911

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The DARPA Urban Challenge by Martin Buehler,Karl Iagnemma,Sanjiv Singh Pdf

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Social Robotics

Haizhou Li,Shuzhi Sam Ge,Yan Wu,Agnieszka Wykowska,Hongsheng He,Xiaorui Liu,Dongyu Li,Jairo Perez-Osorio
Social Robotics Book PDF

Author : Haizhou Li,Shuzhi Sam Ge,Yan Wu,Agnieszka Wykowska,Hongsheng He,Xiaorui Liu,Dongyu Li,Jairo Perez-Osorio
Publisher : Springer Nature
Page : 834 pages
File Size : 48,6 Mb
Release : 2021-11-01
Category : Computers
ISBN : 9783030905255

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Social Robotics by Haizhou Li,Shuzhi Sam Ge,Yan Wu,Agnieszka Wykowska,Hongsheng He,Xiaorui Liu,Dongyu Li,Jairo Perez-Osorio Pdf

This book constitutes the refereed proceedings of the 13th International Conference on Social Robotics, ICSR 2021, held in Singapore, Singapore, in November 2021. The conference was held as a hybrid event. The 64 full papers and 15 short papers presented were carefully reviewed and selected from 114 submissions. The conference presents topics on humans and intelligent robots and on the integration of robots into the fabric of our society. The theme of the 2021 edition was “Robotics in our everyday lives”, emphasizing on the increasing importance of robotics in human daily living.

How to Use Exploratory Scenario Planning (Xsp)

Jeremy Stapleton
How to Use Exploratory Scenario Planning Xsp Book PDF

Author : Jeremy Stapleton
Publisher : Unknown
Page : 100 pages
File Size : 50,6 Mb
Release : 2020-08-15
Category : Electronic
ISBN : 155844405X

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How to Use Exploratory Scenario Planning (Xsp) by Jeremy Stapleton Pdf

Exploratory scenario planning (XSP) can help communities prepare for uncertainties posed by climate change, pandemics, automation, and other unprecedented twenty-first-century challenges. This manual is a comprehensive resource for anyone interested in using this emergent planning approach, which is effective at the local, regional, or organizational level. Through the XSP process, stakeholders envision and develop various potential futures (i.e., scenarios) and consider how to measure and prepare for each, rather than working toward a single shared vision for the future. Through instructive case studies, recommendations, sample workshop agendas, and more, this manual equips would-be practitioners with the background knowledge, procedural guidance, and practical strategies to implement this planning tool successfully. Readers will be prepared to facilitate--or even lead--an effective, impactful XSP process in their own settings.

Control Systems

Jitendra R. Raol,Ramakalyan Ayyagari
Control Systems Book PDF

Author : Jitendra R. Raol,Ramakalyan Ayyagari
Publisher : CRC Press
Page : 738 pages
File Size : 45,8 Mb
Release : 2019-07-12
Category : Technology & Engineering
ISBN : 9781351170789

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Control Systems by Jitendra R. Raol,Ramakalyan Ayyagari Pdf

Control Systems: Classical, Modern, and AI-Based Approaches provides a broad and comprehensive study of the principles, mathematics, and applications for those studying basic control in mechanical, electrical, aerospace, and other engineering disciplines. The text builds a strong mathematical foundation of control theory of linear, nonlinear, optimal, model predictive, robust, digital, and adaptive control systems, and it addresses applications in several emerging areas, such as aircraft, electro-mechanical, and some nonengineering systems: DC motor control, steel beam thickness control, drum boiler, motional control system, chemical reactor, head-disk assembly, pitch control of an aircraft, yaw-damper control, helicopter control, and tidal power control. Decentralized control, game-theoretic control, and control of hybrid systems are discussed. Also, control systems based on artificial neural networks, fuzzy logic, and genetic algorithms, termed as AI-based systems are studied and analyzed with applications such as auto-landing aircraft, industrial process control, active suspension system, fuzzy gain scheduling, PID control, and adaptive neuro control. Numerical coverage with MATLAB® is integrated, and numerous examples and exercises are included for each chapter. Associated MATLAB® code will be made available.

Robot Motion Planning

Jean-Claude Latombe
Robot Motion Planning Book PDF

Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
Page : 668 pages
File Size : 51,9 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461540229

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Robot Motion Planning by Jean-Claude Latombe Pdf

One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.