Decentralized Cooperative Planning for Automated Vehicles with Continuous Monte Carlo Tree Search

Urban traffic scenarios often require a high degree of cooperation between traffic participants to ensure safety and efficiency. Observing the behavior of others, humans infer whether or not others are cooperating. This work aims to extend the capabilities of automated vehicles, enabling them to cooperate implicitly in heterogeneous environments. Continuous actions allow for arbitrary trajectories and hence are applicable to a much wider class of problems than existing cooperative approaches with discrete action spaces. Based on cooperative modeling of other agents, Monte Carlo Tree Search (MCTS) in conjunction with Decoupled-UCT evaluates the action-values of each agent in a cooperative and decentralized way, respecting the interdependence of actions among traffic participants. The extension to continuous action spaces is addressed by incorporating novel MCTS-specific enhancements for efficient search space exploration. The proposed algorithm is evaluated under different scenarios, showing that the algorithm is able to achieve effective cooperative planning and generate solutions egocentric planning fails to identify

Decentralized Cooperative Planning for Automated Vehicles with Hierarchical Monte Carlo Tree Search

Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in heterogeneous environments. Based on cooperative modeling of other agents and Decoupled-UCT (a variant of MCTS), the algorithm evaluates the state-action-values of each agent in a cooperative and decentralized manner, explicitly modeling the interdependence of actions between traffic participants. Macro-actions allow for temporal extension over multiple time steps and increase the effective search depth requiring fewer iterations to plan over longer horizons. Without predefined policies for macro-actions, the algorithm simultaneously learns policies over and within macro-actions. The proposed method is evaluated under several conflict scenarios, showing that the algorithm can achieve effective cooperative planning with learned macro-actions in heterogeneous environments

Accelerating Cooperative Planning for Automated Vehicles with Learned Heuristics and Monte Carlo Tree Search

Efficient driving in urban traffic scenarios requires foresight. The observation of other traffic participants and the inference of their possible next actions depending on the own action is considered cooperative prediction and planning. Humans are well equipped with the capability to predict the actions of multiple interacting traffic participants and plan accordingly, without the need to directly communicate with others. Prior work has shown that it is possible to achieve effective cooperative planning without the need for explicit communication. However, the search space for cooperative plans is so large that most of the computational budget is spent on exploring the search space in unpromising regions that are far away from the solution. To accelerate the planning process, we combined learned heuristics with a cooperative planning method to guide the search towards regions with promising actions, yielding better solutions at lower computational costs

Ground states of dipolar gases in quasi-1D ring traps

We compute the ground state of dipoles in a quasi-one-dimensional ring trap using few-body techniques combined with analytic arguments. The effective interaction between two dipoles depends on their center-of-mass coordinate and can be tuned by varying the angle between dipoles and the plane of the ring. For weak enough interactions, the state resembles a weakly interacting Fermi gas or an (inhomogeneous) Lieb-Liniger gas. A mapping between the Lieb-Liniger and the dipolar-gas parameters in and beyond the Born approximation is established, and we discuss the effect of inhomogeneities based on a local-density approximation. For strongly repulsive interactions, the system exhibits crystal-like localization of the particles. Their inhomogeneous distribution may be understood in terms of a simple few-body model as well as a local-density approximation. In the case of partially attractive interactions, clustered states form for strong enough coupling, and the dependence of the state on particle number and orientation angle of the dipoles is discussed analytically.Comment: 15 pages, 10 figure

Fully Convolutional Neural Networks for Dynamic Object Detection in Grid Maps

Grid maps are widely used in robotics to represent obstacles in the environment and differentiating dynamic objects from static infrastructure is essential for many practical applications. In this work, we present a methods that uses a deep convolutional neural network (CNN) to infer whether grid cells are covering a moving object or not. Compared to tracking approaches, that use e.g. a particle filter to estimate grid cell velocities and then make a decision for individual grid cells based on this estimate, our approach uses the entire grid map as input image for a CNN that inspects a larger area around each cell and thus takes the structural appearance in the grid map into account to make a decision. Compared to our reference method, our concept yields a performance increase from 83.9% to 97.2%. A runtime optimized version of our approach yields similar improvements with an execution time of just 10 milliseconds.Comment: This is a shorter version of the masters thesis of Florian Piewak and it was accapted at IV 201

Polarons and Molecules in a Two-Dimensional Fermi Gas

We study an impurity atom in a two-dimensional Fermi gas using variational wave functions for (i) an impurity dressed by particle-hole excitations (polaron) and (ii) a dimer consisting of the impurity and a majority atom. In contrast to three dimensions, where similar calculations predict a sharp transition to a dimer state with increasing interspecies attraction, we show that the polaron ansatz always gives a lower energy. However, the exact solution for a heavy impurity reveals that both a two-body bound state and distortions of the Fermi sea are crucial. This reflects the importance of particle-hole pairs in lower dimensions and makes simple variational calculations unreliable. We show that the energy of an impurity gives important information about its dressing cloud, for which both ans\"atze give inaccurate results.Comment: 5 pages, 2 figures, minor change

Tunneling dynamics of few bosons in a double well

We study few-boson tunneling in a one-dimensional double well. As we pass from weak interactions to the fermionization limit, the Rabi oscillations first give way to highly delayed pair tunneling (for medium coupling), whereas for very strong correlations multi-band Rabi oscillations emerge. All this is explained on the basis of the exact few-body spectrum and without recourse to the conventional two-mode approximation. Two-body correlations are found essential to the understanding of the different tunnel mechanisms. The investigation is complemented by discussing the effect of skewing the double well, which offers the possibility to access specific tunnel resonancesComment: 10 pages, 8 figure

Fatal lymphoproliferation and acute monocytic leukemia-like disease following infectious mononucleosis in the elderly

Three elderly patients are reported, in whom serologically confirmed recent infectious mononucleosis is followed by fatal lymphoproliferation (case 1), by acute monocytic leukemia (case 2), and by acute probably monocytic leukemia (case 3)

Excitations of Few-Boson Systems in 1-D Harmonic and Double Wells

We examine the lowest excitations of one-dimensional few-boson systems trapped in double wells of variable barrier height. Based on a numerically exact multi-configurational method, we follow the whole pathway from the non-interacting to the fermionization limit. It is shown how, in a purely harmonic trap, the initially equidistant, degenerate levels are split up due to interactions, but merge again for strong enough coupling. In a double well, the low-lying spectrum is largely rearranged in the course of fermionization, exhibiting level adhesion and (anti-)crossings. The evolution of the underlying states is explained in analogy to the ground-state behavior. Our discussion is complemented by illuminating the crossover from a single to a double well.Comment: 11 pages, 10 figure