%0 Generic %1 bouton2017belief %A Bouton, Maxime %A Cosgun, Akansel %A Kochenderfer, Mykel J. %D 2017 %K learning reinforcement %T Belief State Planning for Autonomously Navigating Urban Intersections %U http://arxiv.org/abs/1704.04322 %X Urban intersections represent a complex environment for autonomous vehicles with many sources of uncertainty. The vehicle must plan in a stochastic environment with potentially rapid changes in driver behavior. Providing an efficient strategy to navigate through urban intersections is a difficult task. This paper frames the problem of navigating unsignalized intersections as a partially observable Markov decision process (POMDP) and solves it using a Monte Carlo sampling method. Empirical results in simulation show that the resulting policy outperforms a threshold-based heuristic strategy on several relevant metrics that measure both safety and efficiency.

@misc{bouton2017belief, abstract = {Urban intersections represent a complex environment for autonomous vehicles with many sources of uncertainty. The vehicle must plan in a stochastic environment with potentially rapid changes in driver behavior. Providing an efficient strategy to navigate through urban intersections is a difficult task. This paper frames the problem of navigating unsignalized intersections as a partially observable Markov decision process (POMDP) and solves it using a Monte Carlo sampling method. Empirical results in simulation show that the resulting policy outperforms a threshold-based heuristic strategy on several relevant metrics that measure both safety and efficiency.}, added-at = {2017-04-18T07:52:25.000+0200}, author = {Bouton, Maxime and Cosgun, Akansel and Kochenderfer, Mykel J.}, biburl = {https://www.bibsonomy.org/bibtex/25a234ac7f26f38c570df1e8f29440b9a/nrlugg}, interhash = {ba30549fd2b5093e2e989a90327397a1}, intrahash = {5a234ac7f26f38c570df1e8f29440b9a}, keywords = {learning reinforcement}, note = {cite arxiv:1704.04322Comment: 6 pages, 6 figures, accepted to IV2017}, timestamp = {2017-04-18T07:52:25.000+0200}, title = {Belief State Planning for Autonomously Navigating Urban Intersections}, url = {http://arxiv.org/abs/1704.04322}, year = 2017 }