3 research outputs found
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions
To achieve seamless human-robot interactions, robots need to intimately
reason about complex interaction dynamics and future human behaviors within
their motion planning process. However, there is a disconnect between
state-of-the-art neural network-based human behavior models and robot motion
planners -- either the behavior models are limited in their consideration of
downstream planning or a simplified behavior model is used to ensure
tractability of the planning problem. In this work, we present a framework that
fuses together the interpretability and flexibility of trajectory optimization
(TO) with the predictive power of state-of-the-art human trajectory prediction
models. In particular, we leverage gradient information from data-driven
prediction models to explicitly reason about human-robot interaction dynamics
within a gradient-based TO problem. We demonstrate the efficacy of our approach
in a multi-agent scenario whereby a robot is required to safely and efficiently
navigate through a crowd of up to ten pedestrians. We compare against a variety
of planning methods, and show that by explicitly accounting for interaction
dynamics within the planner, our method offers safer and more efficient
behaviors, even yielding proactive and nuanced behaviors such as waiting for a
pedestrian to pass before moving
Matching-Based Capture Strategies for 3D Heterogeneous Multiplayer Reach-Avoid Differential Games
This paper studies a 3D multiplayer reach-avoid differential game with a goal
region and a play region. Multiple pursuers defend the goal region by
consecutively capturing multiple evaders in the play region. The players have
heterogeneous moving speeds and the pursuers have heterogeneous capture radii.
Since this game is hard to analyze directly, we decompose the whole game as
many subgames which involve multiple pursuers and only one evader. Then, these
subgames are used as a building block for the pursuer-evader matching. First,
for multiple pursuers and one evader, we introduce an evasion space (ES) method
characterized by a potential function to construct a guaranteed pursuer winning
strategy. Then, based on this strategy, we develop conditions to determine
whether a pursuit team can guard the goal region against one evader. It is
shown that in 3D, if a pursuit team is able to defend the goal region against
an evader, then at most three pursuers in the team are necessarily needed. We
also compute the value function of the Hamilton-Jacobi-Isaacs (HJI) equation
for a special subgame of degree. To capture the maximum number of evaders in
the open-loop sense, we formulate a maximum bipartite matching problem with
conflict graph (MBMC). We show that the MBMC is NP-hard and design a
polynomial-time constant-factor approximation algorithm to solve it. Finally,
we propose a receding horizon strategy for the pursuit team where in each
horizon an MBMC is solved and the strategies of the pursuers are given. We also
extend our results to the case of a bounded convex play region where the
evaders escape through an exit. Two numerical examples are provided to
demonstrate the obtained results.Comment: 17 pages, 8 figure
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
Action anticipation, intent prediction, and proactive behavior are all
desirable characteristics for autonomous driving policies in interactive
scenarios. Paramount, however, is ensuring safety on the road -- a key
challenge in doing so is accounting for uncertainty in human driver actions
without unduly impacting planner performance. This paper introduces a
minimally-interventional safety controller operating within an autonomous
vehicle control stack with the role of ensuring collision-free interaction with
an externally controlled (e.g., human-driven) counterpart while respecting
static obstacles such as a road boundary wall. We leverage reachability
analysis to construct a real-time (100Hz) controller that serves the dual role
of (i) tracking an input trajectory from a higher-level planning algorithm
using model predictive control, and (ii) assuring safety by maintaining the
availability of a collision-free escape maneuver as a persistent constraint
regardless of whatever future actions the other car takes. A full-scale
steer-by-wire platform is used to conduct traffic weaving experiments wherein
two cars, initially side-by-side, must swap lanes in a limited amount of time
and distance, emulating cars merging onto/off of a highway. We demonstrate
that, with our control stack, the autonomous vehicle is able to avoid collision
even when the other car defies the planner's expectations and takes dangerous
actions, either carelessly or with the intent to collide, and otherwise
deviates minimally from the planned trajectory to the extent required to
maintain safety.Comment: arXiv admin note: text overlap with arXiv:1812.1131