@inproceedings{306d1f7ca70e4e759d62120886fb9475,
title = "Human aware UAS path planning in urban environments using nonstationary MDPs",
abstract = "A growing concern with deploying Unmanned Aerial Vehicles (UAVs) in urban environments is the potential violation of human privacy, and the backlash this could entail. Therefore, there is a need for UAV path planning algorithms that minimize the likelihood of invading human privacy. We formulate the problem of human-aware path planning as a nonstationary Markov Decision Process, and provide a novel model-based reinforcement learning solution that leverages Gaussian process clustering. Our algorithm is flexible enough to accommodate changes in human population densities by employing Bayesian nonparametrics, and is real-time computable. The approach is validated experimentally on a large-scale long duration experiment with both simulated and real UAVs.",
author = "Rakshit Allamaraju and Hassan Kingravi and Allan Axelrod and Girish Chowdhary and Robert Grande and How, {Jonathan P.} and Christopher Crick and Weihua Sheng",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907000",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1161--1167",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
}