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- W2620836468 abstract "This paper presents an intention-aware online planning approach for autonomous driving amid many pedestrians. To drive near pedestrians safely, efficiently, and smoothly, autonomous vehicles must estimate unknown pedestrian intentions and hedge against the uncertainty in intention estimates in order to choose actions that are effective and robust. A key feature of our approach is to use the partially observable Markov decision process (POMDP) for systematic, robust decision making under uncertainty. Although there are concerns about the potentially high computational complexity of POMDP planning, experiments show that our POMDP-based planner runs in near real time, at 3 Hz, on a robot golf cart in a complex, dynamic environment. This indicates that POMDP planning is improving fast in computational efficiency and becoming increasingly practical as a tool for robot planning under uncertainty. © 2015 IEEE" @default.
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- W2620836468 date "2015-01-01" @default.
- W2620836468 modified "2023-09-24" @default.
- W2620836468 title "Intention-aware online POMDP planning for autonomous driving in a crowd" @default.
- W2620836468 hasPublicationYear "2015" @default.
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