Print Email Facebook Twitter Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals Title Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals Author Streichenberg, L.M. (TU Delft Learning & Autonomous Control) Trevisan, E. (TU Delft Learning & Autonomous Control) Chung, Jen Jen (ETH Zürich; University of Queensland) Siegwart, R. (ETH Zürich) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Date 2023 Abstract Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free interaction-aware motion planner and apply it to Autonomous Surface Vessels (ASVs) in urban canals. We build upon a sampling-based method, namely Model Predictive Path Integral control (MPPI), and employ it to, in each time instance, compute both a collision-free trajectory for the vehicle and a prediction of other agents' trajectories, thus modeling interactions. To improve the method's efficiency in multi-agent scenarios, we introduce a two-stage sample evaluation strategy and define an appropriate cost function to achieve rule compliance. We evaluate this decentralized approach in simulations with multiple vessels in real scenarios extracted from Amsterdam's canals, showing superior performance than a state-of-the-art trajectory optimization framework and robustness when encountering different types of agents. To reference this document use: http://resolver.tudelft.nl/uuid:be113fd1-cfc1-46cb-ae97-9f6c8f218de1 DOI https://doi.org/10.1109/ICRA48891.2023.10161511 Publisher IEEE Embargo date 2024-01-04 ISBN 979-8-3503-2365-8 Source Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023) Event ICRA 2023: International Conference on Robotics and Automation, 2023-05-29 → 2023-06-02, London, United Kingdom Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2023 L.M. Streichenberg, E. Trevisan, Jen Jen Chung, R. Siegwart, J. Alonso-Mora Files PDF Multi_Agent_Path_Integral ... Canals.pdf 1.18 MB Close viewer /islandora/object/uuid:be113fd1-cfc1-46cb-ae97-9f6c8f218de1/datastream/OBJ/view