Sharing is Caring: Socially-Compliant Autonomous Intersection Negotiation
Name
IROS2019_SVO_Coordination.pdf
Size
1.27 MB
Format
Adobe PDF
Checksum (MD5)
7abf146621c103d50f205ce826d8fbb1
Author(s)
Buckman, Noam
Pierson, Alyssa
Schwarting, Wilko
Karaman, Sertac
Rus, Daniela L
Date Issued
January 2020
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Buckman, Noam et al. "Sharing is Caring: Socially-Compliant Autonomous Intersection Negotiation." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019, Macau, China, Institute of Electrical and Electronics Engineers, January 2020 © 2019 IEEE
Version
Author's final manuscript
Abstract
Current methods for autonomous management use strict first-come, first-serve (FCFS) ordering to manage incoming autonomous vehicles at an intersection. In this work, we present a coordination policy that swaps agent ordering to increase the system-wide performance while ensuring that the swaps are socially compliant. By considering an agent's Social Value Orientation (SVO), a social psychology metric for their willingness to help another vehicle, the central coordinator can reduce system delays while ensuring each individual vehicle increases their own utility. The FCFS-SVO algorithm is both computationally tractable and accounts for a variety of real-world agent types, such as human drivers and a variety of social orientations. Simulation results show that average vehicle delays decrease with swapping by enabling cooperation between agents. In addition, we show that the proportion of human drivers, as well as, the distribution of prosocial and egoistic vehicles in the system can have a prominent effect on the performance of the system.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros40897.2019.8967997
