Inverse Optimal Planning for Air Traffic Control

We envision a system that concisely describes the rules of air traffic control, assists human operators and supports dense autonomous air traffic around commercial airports. We develop a method to learn the rules of air traffic control from real data as a cost function via maximum entropy inverse reinforcement learning. This cost function is used as a penalty for a search-based motion planning method that discretizes both the control and the state space. We illustrate the methodology by showing that our approach can learn to imitate the airport arrival routes and separation rules of dense commercial air traffic. The resulting trajectories are shown to be safe, feasible, and efficient

An Open-Source Microscopic Traffic Simulator

We present the interactive Java-based open-source traffic simulator available at www.traffic-simulation.de. In contrast to most closed-source commercial simulators, the focus is on investigating fundamental issues of traffic dynamics rather than simulating specific road networks. This includes testing theories for the spatiotemporal evolution of traffic jams, comparing and testing different microscopic traffic models, modeling the effects of driving styles and traffic rules on the efficiency and stability of traffic flow, and investigating novel ITS technologies such as adaptive cruise control, inter-vehicle and vehicle-infrastructure communication

From Specifications to Behavior: Maneuver Verification in a Semantic State Space

To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval trap. In this paper, we define a semantic abstraction of the continuous space and formalize traffic rules in linear temporal logic (LTL). Sequences in the semantic state space represent maneuvers a high-level planner could choose to execute. We check these maneuvers against the formalized traffic rules using runtime verification. By using the standard model checker NuSMV, we demonstrate the effectiveness of our approach and provide runtime properties for the maneuver verification. We show that high-level behavior can be verified in a semantic state space to fulfill a set of formalized rules, which could serve as a step towards safety of the intended functionality.Comment: Published at IEEE Intelligent Vehicles Symposium (IV), 201

Exact limiting solutions for certain deterministic traffic rules

We analyze the steady-state flow as a function of the initial density for a class of deterministic cellular automata rules (``traffic rules'') with periodic boundary conditions [H. Fuks and N. Boccara, Int. J. Mod. Phys. C 9, 1 (1998)]. We are able to predict from simple considerations the observed, unexpected cutoff of the average flow at unity. We also present an efficient algorithm for determining the exact final flow from a given finite initial state. We analyze the behavior of this algorithm in the infinite limit to obtain for R_m,k an exact polynomial equation maximally of 2(m+k)th degree in the flow and density.Comment: 25 pages, 8 figure

Filtering Network Traffic Based on Protocol Encapsulation Rules

Packet filtering is a technology at the foundation of many traffic analysis tasks. While languages and tools for packet filtering have been available for many years, none of them supports filters operating on the encapsulation relationships found in each packet. This represents a problem as the number of possible encapsulations used to transport traffic is steadily increasing and we cannot define exactly which packets have to be captured. This paper presents our early work on an algorithm that models protocol filtering patterns (including encapsulation constraints) as Finite State Automata and supports the composition of multiple expressions within the same filter. The resulting, optimized filter is then translated into executable code. The above filtering algorithms are available in the NetBee open source library, which provides some basic tools for handling network packets (e.g., a tcpdump-like program) and APIs to build more advanced tool

Situational reasoning for road driving in an urban environment

Robot navigation in urban environments requires situational reasoning. Given the complexity of the environment and the behavior specified by traffic rules, it is necessary to recognize the current situation to impose the correct traffic rules. In an attempt to manage the complexity of the situational reasoning subsystem, this paper describes a finite state machine model to govern the situational reasoning process. The logic state machine and its interaction with the planning system are discussed. The approach was implemented on Alice, Team Caltech’s entry into the 2007 DARPA Urban Challenge. Results from the qualifying rounds are discussed. The approach is validated and the shortcomings of the implementation are identified

Cost-benefit rules for transport projects when labor supply is endogenous and taxes are distortionary

We embed a stylized traffic model within a general equilibrium model in which labor supply is endogenous and income taxes are distortionary. Within this framework we derive simple rules for performing a cost-benefit analysis that can be applied knowing only the output of the traffic model and a factor that accounts for the labor market distortion in a consistent manner. Thus the rules that we derive should be applicable in the large number of cost-benefit analyses that are performed based on the output of traffic models. Such analyses are routinely performed and guide the allocation of a large share of public investment in many countries of the world as well as the assessment of policies such as road user charging. We find that the rules for leisure transport are exactly the same as in a conventional CBA that includes the marginal cost of public funds. For business travel and commuting we find new rules as a result of the assumption that transport costs have the same distortionary effect as income taxes.Cost-benefit; Transport; General Equilibrium

Experiences with a simplified microsimulation for the Dallas/Fort Worth area

We describe a simple framework for micro simulation of city traffic. A medium sized excerpt of Dallas was used to examine different levels of simulation fidelity of a cellular automaton method for the traffic flow simulation and a simple intersection model. We point out problems arising with the granular structure of the underlying rules of motion.Comment: accepted by Int.J.Mod.Phys.C, 20 pages, 14 figure