AIConfPaper
ICRA 2018poster65 citations

Best Response Model Predictive Control for Agile Interactions Between Autonomous Ground Vehicles

Grady Williams, Brian Goldfain, Paul Drews, James M. Rehg, Evangelos A. Theodorou

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Abstract

We introduce an algorithm for autonomous control of multiple fast ground vehicles operating in close proximity to each other. The algorithm is based on a combination of the game theoretic notion of iterated best response, and an information theoretic model predictive control algorithm designed for non-linear stochastic systems. We test the algorithm on two one-fifth scale AutoRally platforms traveling at speeds upwards of 8 meters per second, while maintaining a following distance of under two meters from bumper-to-bumper.

BibTeX
@inproceedings{icra2018_bestresponsemode,
  title = {Best Response Model Predictive Control for Agile Interactions Between Autonomous Ground Vehicles},
  author = {Grady Williams and Brian Goldfain and Paul Drews and James M. Rehg and Evangelos A. Theodorou},
  booktitle = {ICRA 2018},
  year = {2018}
}