Stochastic motion planning and applications to traffic
Name
Balakrishnan-StochasticMotion Planning and Applications to Traffic.pdf
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871.7 KB
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Checksum (MD5)
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Author(s)
Lim, Sejoon
Balakrishnan, Hari
Gifford, David K.
Madden, Samuel R.
Rus, Daniela L.
Date Issued
December 2009
Journal
Algorithmic Foundation of Robotics VIII
Publisher
Springer Berlin/Heidelberg
Citation
Lim, Sejoon et al. “Stochastic Motion Planning and Applications to Traffic.” Algorithmic Foundation of Robotics VIII. Ed. Gregory S. Chirikjian et al. Vol. 57. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. 483-500.
Version
Author's final manuscript
Abstract
This paper presents a stochastic motion planning algorithm and its application to traffic navigation. The algorithm copes with the uncertainty of road traffic conditions by stochastic modeling of travel delay on road networks. The algorithm determines paths between two points that optimize a cost function of the delay probability distribution. It can be used to find paths that maximize the probability of reaching a destination within a particular travel deadline. For such problems, standard shortest-path algorithms don’t work because the optimal substructure property doesn’t hold. We evaluate our algorithm using both simulations and real-world drives, using delay data gathered from a set of taxis equipped with GPS sensors and a wireless network. Our algorithm can be integrated into on-board navigation systems as well as route-finding Web sites, providing drivers with good paths that meet their desired goals.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1007/978-3-642-00312-7_30
