Game-Theoretic Motion Planning with Perception Uncertainty and Right-of-Way Constraints.

Pouya Panahandeh, Ahmad Reza Alghooneh, Mohammad Pirani, Baris Fidan, Amir Khajepour

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Pouya PanahandehMechanical and Mechatronics Engineering Department, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.ORCID 0009-0007-2459-0382

Ahmad Reza AlghoonehMechanical and Mechatronics Engineering Department, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.

Mohammad PiraniDepartment of Mechanical Engineering, University of Ottawa, Ottawa, ON K1N 6N5, Canada.

Baris FidanMechanical and Mechatronics Engineering Department, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.ORCID 0000-0002-5333-0201

Amir KhajepourMechanical and Mechatronics Engineering Department, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.ORCID 0000-0002-1998-6100

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

This paper addresses two challenges in AV motion planning: adherence to right-of-way and handling uncertainties, using two game-theoretic frameworks, namely Stackelberg and Nash Bayesian (Bayesian). By modeling the interactions between road users as a hierarchical relationship, the proposed approach enables the AV to strategically optimize its trajectory while considering the actions and priorities of other road users. Additionally, the Bayesian equilibrium aspect of the framework incorporates probabilistic beliefs and updates them based on sensor measurements, allowing the AV to make informed decisions in the presence of uncertainty in the sensory system. Experimental assessments demonstrate the efficacy of the approach, emphasizing its ability to improve the reliability and adaptability of AV motion planning.

Indexed as

autonomous vehiclegame theorymotion planningsensor fusionuncertainty

Identifiers

PMID39771911

DOI10.3390/s24248177

PMCPMC11680052

What OpenQuestion holds

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LicenceCC BY

Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.