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Record Nr. |
UNINA9910504298903321 |
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Autore |
Hubmann Constantin |
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Titolo |
Belief State Planning for Autonomous Driving : Planning with Interaction, Uncertain Prediction and Uncertain Perception |
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Pubbl/distr/stampa |
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Karlsruhe, : KIT Scientific Publishing, 2021 |
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ISBN |
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Descrizione fisica |
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1 online resource (180 p.) |
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Collana |
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Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie |
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Soggetti |
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Mechanical engineering & materials |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Sommario/riassunto |
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This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty. |
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