Lets-drive: Driving in a crowd by learning from tree search
Autonomous driving in a crowded environment, eg, a busy traffic intersection, is an unsolved
challenge for robotics. The robot vehicle must contend with a dynamic and partially
observable environment, noisy sensors, and many agents. A principled approach is to
formalize it as a Partially Observable Markov Decision Process (POMDP) and solve it
through online belief-tree search. To handle a large crowd and achieve real-time
performance in this very challenging setting, we propose LeTS-Drive, which integrates …
challenge for robotics. The robot vehicle must contend with a dynamic and partially
observable environment, noisy sensors, and many agents. A principled approach is to
formalize it as a Partially Observable Markov Decision Process (POMDP) and solve it
through online belief-tree search. To handle a large crowd and achieve real-time
performance in this very challenging setting, we propose LeTS-Drive, which integrates …
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