2021
Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach
ICRA 2021poster
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level data-driven strategy predictor and a lower-level model-based feed…