Post Graduate Seminar rkala.99k.org 14 November 2012 Motion Planning of Autonomous Vehicles Rahul...
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Post Graduate Seminar rkala.99k.org 14 November 2012 Motion Planning of Autonomous Vehicles Rahul Kala Presentation of the paper: Kala, K. Warwick (2013) Motion Planning of Autonomous Vehicles in a Non-Autonomous Vehicle Environment without Speed Lanes, Engineering Applications of Artificial Intelligence, 26(5-6): 1588–1601.
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Post Graduate Seminar rkala.99k.org Rahul Kala Vehicle Packing in Roads Student Packing at 188, Call Centre Lab 14 November 2012 v/s
Transcript of Post Graduate Seminar rkala.99k.org 14 November 2012 Motion Planning of Autonomous Vehicles Rahul...
Post Graduate Seminar rkala.99k.org14 November 2012
Motion Planning of Autonomous VehiclesRahul Kala
Presentation of the paper: Kala, K. Warwick (2013) Motion Planning of Autonomous Vehicles in a Non-Autonomous Vehicle Environment without Speed Lanes, Engineering Applications of Artificial Intelligence, 26(5-6): 1588–1601.
Post Graduate Seminar
A run through the background1. The Problem
2. The Traffic(Speed Lanes)
3. The Transition
Image Courtesy: railway-technical.com, blogs.abc.net.au/
Task Diversity
Size Diversity
Speed Diversity
Post Graduate Seminar rkala.99k.org
Rahul Kala
Vehicle Packing in
RoadsStudent
Packing at 188, Call Centre Lab
14 November 2012
v/s
Post Graduate Seminar
Disclaimer
All characters and acronyms used in this presentation are fictitious. Resemblance to any student studying or passed out is purely coincidental
Post Graduate Seminar
The Problem
02 01
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Image Courtesy: SSE, UoR
Post Graduate Seminar
The ‘Cause’ of the Problem
Vehicle PackingMinimum
road width
Maximum road width
0.25, 0.5, 1 (lanes), entire road?
Student PackingMinimum
Desk Space
Maximum Desk Space
1, 1.5, 2, entire row?
Post Graduate Seminar
Objectives
Vehicle Packing
Maximize Separation
Join Vehicle Pool Ahead
Student Packing
Maximize number of desks
Desks with screen ‘hidden’ from door
entry
Post Graduate Seminar
The Approach
The rules of the GAME
Post Graduate Seminar
Rule 1: Obstacle Avoidance
Post Graduate Seminar
Rule 1’: JR Replacement
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Post Graduate Seminar
Rule 2: Centring
Post Graduate Seminar
Rule 2’: CK Expansion
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Post Graduate Seminar
Rule 3: Lane Change
Would it be OK to turn??
Post Graduate Seminar
Rule 3’: S-P-R-E-A-D Meetings
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Would it be OK to change??
Post Graduate Seminar
Rule 4: Overtake
Can I fit in??
Side? Place?
Post Graduate Seminar
Rule 4: Overtake
Post Graduate Seminar
Rule 4’: AM Jump
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Post Graduate Seminar
Rule 5-7: Single Lane Overtake
Initiation Completion
Cancellation
Post Graduate Seminar
Rule 5’-7’: Exits and Returns
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MR Exit
MR Initiation
MA Initiation
MA Return
Post Graduate Seminar
Rule 8: Be Overtaken
Post Graduate Seminar
Rule 8’: CB Condensation
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Post Graduate Seminar
Rule 9: Maintain Separation Steer
Post Graduate Seminar
Rule 9’: ImH/HS Shift
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Post Graduate Seminar
Rule 10: Slow Down
Post Graduate Seminar
Rule 10’: CjS Retrieval
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Post Graduate Seminar
Rule 11: Discover Conflicting Interests
Post Graduate Seminar
Rule 11’: MS/MS Confusion
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Post Graduate Seminar
Rule 12: Travel Straight
Post Graduate Seminar
Rule 12’: Stay at your place!
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23 24
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Post Graduate Seminar
To SummarizeVehicle PackingObstacle
Avoidance
Centring
Lane Change
Overtake
Student Packing
JR Replacement
CK Expansion
S-P-R-E-A-D Meetings
AM Jump
Post Graduate Seminar
To SummarizeVehicle PackingSingle Lane
Overtake InitiationSingle Lane Overtake
CompletionSingle Lane Overtake
Cancelation
Be Overtaken
Student PackingMR/MA Exit Initiation
MR Exit
MA Return
CB Condensation
Post Graduate Seminar
To SummarizeVehicle Packing
Maintain Separation Steer
Slow Down
Discover Conflicting Interests
Travel Straight
Student Packing
ImH/HS Shift
CjS Retrieval
MS/MS Confusion
Stay at your place
Post Graduate Seminar
AND SOME ROBOTICS
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Choicessince one turn at a time is modelled
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Choices
Post Graduate Seminar
Choicessince one turn at a time is modelled
Post Graduate Seminar
Bounds
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Post Graduate Seminar
THANK YOU
Image Courtesy: wikimedia.org
