Multi-Vehicle Motion Planning for Social Optimal Mobility-on-Demand
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ICRA_2018.pdf
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1.53 MB
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Author(s)
Karlsson, Jesper
Tumova, Jana
Vasile, Cristian-Ioan
Karaman, Sertac
Rus, Daniela L
Date Issued
September 2018
Journal
2018 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Karlsson, Jesper, et al. “Multi-Vehicle Motion Planning for Social Optimal Mobility-on-Demand.” 2018 IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, Australia, IEEE, 2018, pp. 7298–305.
Version
Author's final manuscript
Abstract
In this paper we consider a fleet of self-driving cars operating in a road network governed by rules of the road, such as the Vienna Convention on Road Traffic, providing rides to customers to serve their demands with desired deadlines. We focus on the associated motion planning problem that trades-off the demands' delays and level of violation of the rules of the road to achieve social optimum among the vehicles. Due to operating in the same environment, the interaction between the cars must be taken into account, and can induce further delays. We propose an integrated route and motion planning approach that achieves scalability with respect to the number of cars by resolving potential collision situations locally within so-called bubble spaces enclosing the conflict. The algorithms leverage the road geometries, and perform joint planning only for lead vehicles in the conflict and use queue scheduling for the remaining cars. Furthermore, a framework for storing previously resolved conflict situations is proposed, which can be use for quick querying of joint motion plans. We show the mobility-on-demand setup and effectiveness of the proposed approach in simulated case studies involving up to 10 self-driving vehicles.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2018.8462968
