Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference. Article Swipe
Christoforos Mavrogiannis
,
Jonathan DeCastro
,
Siddhartha S Srinivasa
·
YOU?
·
· 2020
· Open Access
·
YOU?
·
· 2020
· Open Access
·
We focus on navigation among rational, non-communicating agents at unsignalized street intersections. Following collision-free motion under such settings demands nuanced implicit coordination among agents. Often, the structure of these domains constrains multiagent trajectories to belong to a finite set of modes. Our key insight is that empowering agents with a model of these modes can enable effective coordination, realized implicitly via intent signals encoded in agents' actions. In this paper, we represent modes of joint behavior in a compact and interpretable fashion using the formalism of topological braids. We design a decentralized planning algorithm that generates actions aimed at reducing the uncertainty over the mode of the emerging multiagent behavior. This mechanism enables agents that individually run our algorithm to collectively reject unsafe intersection crossings. We validate our approach in a simulated case study featuring challenging multiagent scenarios at a four-way unsignalized intersection. Our model is shown to reduce frequency of collisions by >65% over a set of baselines explicitly reasoning over trajectories, while maintaining comparable time efficiency.
Related Topics
Concepts
Computer science
Intersection (aeronautics)
Inference
Formalism (music)
Set (abstract data type)
Key (lock)
Topology (electrical circuits)
Theoretical computer science
Artificial intelligence
Mathematics
Engineering
Computer security
Transport engineering
Combinatorics
Musical
Programming language
Visual arts
Art
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://arxiv.org/abs/2004.05205v1
- OA Status
- green
- References
- 18
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3015447048
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3015447048Canonical identifier for this work in OpenAlex
- Title
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Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference.Work title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2020Year of publication
- Publication date
-
2020-04-10Full publication date if available
- Authors
-
Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S SrinivasaList of authors in order
- Landing page
-
https://arxiv.org/abs/2004.05205v1Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/abs/2004.05205v1Direct OA link when available
- Concepts
-
Computer science, Intersection (aeronautics), Inference, Formalism (music), Set (abstract data type), Key (lock), Topology (electrical circuits), Theoretical computer science, Artificial intelligence, Mathematics, Engineering, Computer security, Transport engineering, Combinatorics, Musical, Programming language, Visual arts, ArtTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
18Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
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| abstract_inverted_index.maintaining | 164 |
| abstract_inverted_index.topological | 86 |
| abstract_inverted_index.uncertainty | 101 |
| abstract_inverted_index.collectively | 120 |
| abstract_inverted_index.coordination | 21 |
| abstract_inverted_index.individually | 115 |
| abstract_inverted_index.intersection | 123 |
| abstract_inverted_index.trajectories | 32 |
| abstract_inverted_index.unsignalized | 9, 141 |
| abstract_inverted_index.coordination, | 57 |
| abstract_inverted_index.decentralized | 91 |
| abstract_inverted_index.interpretable | 80 |
| abstract_inverted_index.intersection. | 142 |
| abstract_inverted_index.trajectories, | 162 |
| abstract_inverted_index.collision-free | 13 |
| abstract_inverted_index.intersections. | 11 |
| abstract_inverted_index.non-communicating | 6 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 3 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.7900000214576721 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile.value | 0.02755988 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |