TY - GEN
T1 - Best Response Model Predictive Control for Agile Interactions between Autonomous Ground Vehicles
AU - Williams, Grady
AU - Goldfain, Brian
AU - Drews, Paul
AU - Rehg, James M.
AU - Theodorou, Evangelos A.
N1 - Funding Information:
This work was made possible by the ARO through DURIP award W911NF-12-1-0377, the Georgia Tech Vertical Lift Research Center of Excellence (VLRCOE), and the Qualcomm Innovation Fellowship.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - We introduce an algorithm for autonomous control of multiple fast ground vehicles operating in close proximity to each other. The algorithm is based on a combination of the game theoretic notion of iterated best response, and an information theoretic model predictive control algorithm designed for non-linear stochastic systems. We test the algorithm on two one-fifth scale AutoRally platforms traveling at speeds upwards of 8 meters per second, while maintaining a following distance of under two meters from bumper-to-bumper.
AB - We introduce an algorithm for autonomous control of multiple fast ground vehicles operating in close proximity to each other. The algorithm is based on a combination of the game theoretic notion of iterated best response, and an information theoretic model predictive control algorithm designed for non-linear stochastic systems. We test the algorithm on two one-fifth scale AutoRally platforms traveling at speeds upwards of 8 meters per second, while maintaining a following distance of under two meters from bumper-to-bumper.
UR - http://www.scopus.com/inward/record.url?scp=85063143423&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063143423&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8462831
DO - 10.1109/ICRA.2018.8462831
M3 - Conference contribution
AN - SCOPUS:85063143423
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2403
EP - 2410
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -