We focus on decentralized navigation among multiple non-communicating agents at uncontrolled street intersections. Avoiding collisions under such settings demands nuanced implicit coordination. This is challenging to accomplish; the high dimensionality of the space of possible behavior and the lack of explicit communication among agents complicate prediction and planning. However, the structure of these domains often collapses the space of possible collective behavior into a finite set of modes. Our key insight is that enabling agents to reason about modes may enable them to coordinate implicitly via intent signals encoded in their actions. In this paper, we represent modes as low-dimensional multiagent motion primitives in a compact and interpretable fashion using the formalism of topological braids. Based on this representation, we derive a probabilistic model that maps past behavior of multiple agents to a future mode. Using this model, we design a decentralized control algorithm that treats navigation as uncertainty minimization over the space of modes. This algorithm enables agents to collectively reject unsafe intersection crossing strategies in a distributed fashion. We demonstrate our approach in a simulated four-way uncontrolled intersection. Our model is shown to reduce the frequency of collisions by over 65% against baselines explicitly reasoning in the space of trajectories, while maintaining comparable time efficiency in challenging scenarios.


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    Titel :

    Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    LaValle, Steven M. (Herausgeber:in) / O’Kane, Jason M. (Herausgeber:in) / Otte, Michael (Herausgeber:in) / Sadigh, Dorsa (Herausgeber:in) / Tokekar, Pratap (Herausgeber:in) / Mavrogiannis, Christoforos (Autor:in) / DeCastro, Jonathan A. (Autor:in) / Srinivasa, Siddhartha (Autor:in)

    Kongress:

    International Workshop on the Algorithmic Foundations of Robotics ; 2022 ; , MD, USA June 22, 2022 - June 24, 2022



    Erscheinungsdatum :

    15.12.2022


    Format / Umfang :

    17 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids

    Mavrogiannis, Christoforos / DeCastro, Jonathan A. / Srinivasa, Siddhartha | TIBKAT | 2023


    Behavior of drivers at uncontrolled intersections

    Homberger, W.S. | Engineering Index Backfile | 1951


    Driver Behaviour at Unsignalised and Uncontrolled Intersections

    Kaysi, I. / International Association of Travel Behaviour Research | British Library Conference Proceedings | 2001



    Vehicle-Arrival Characteristics at Urban Uncontrolled Intersections

    Rengaraju, V. R. / Trinadha Rao, V. | British Library Online Contents | 1995