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A Framework for Autonomous Vehicles With Goal Inference and Task Allocation Capabilities to Support Peer Collaboration With Human Agents

[+] Author Affiliations
Chang Liu, Shih-Yuan Liu, Elena L. Carano, J. Karl Hedrick

University of California, Berkeley, Berkeley, CA

Paper No. DSCC2014-6262, pp. V002T30A005; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


This paper proposes a framework for autonomous vehicles to collaborate with human agents as peers in task completion scenarios. In this framework, the autonomous vehicles utilize the Bayesian inference method to determine human intention. An optimal task allocation that minimizes the mission completion time while respecting the intention of the human agents is developed using the Mixed Integer Linear Programming (MILP) method. The proposed framework can accommodate different levels of suboptimality in human agents’ behavior by adjusting a tunable parameter in the inference model. The effectiveness of the framework in facilitating human-autonomous vehicle collaboration is demonstrated through simulations.

Copyright © 2014 by ASME



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