LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning

Existing game-theoretic planning methods assume that the robot knows the objective functions of the other agents a priori while, in practical scenarios, this is rarely the case. This letter introduces LUCIDGames, an inverse optimal control algorithm that is able to estimate the other agents' ob...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-07, Vol.6 (3), p.5485-5492
Hauptverfasser:	Le Cleac'h, Simon, Schwager, Mac, Manchester, Zachary
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Bayesian analysis Collision avoidance Control algorithms Control theory Cost function Game theory Games intelligent transportation systems Kalman filters Linear programming motion and path planning Multi-Robot systems Optimal control Parameter estimation Planning Real time Robot kinematics Robots Stability Trajectory Trajectory planning Uncertainty Vehicles
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