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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 36 / No. 11: IAAI-22, EAAI-22, AAAI-22 Special Programs and Special Track, Student Papers and Demonstrations

Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)

February 1, 2023

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Authors

Yiwei Lyu

Carnegie Mellon University


Wenhao Luo

University of North Carolina at Charlotte


John M. Dolan

Carnegie Mellon University


DOI:

10.1609/aaai.v36i11.21641


Abstract:

Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we introduce the Parametric-Control Barrier Function (Parametric-CBF), a novel variant of the traditional Control Barrier Function to extend its expressivity in describing different safe behaviors among heterogeneous robots. A parametric-CBF based framework is presented to enable the ego robot to model the neighboring robots behavior and further improve the coordination efficiency during interaction while enjoying formally provable safety guarantees. We demonstrate the usage of Parametric-CBF in behavior prediction and adaptive safe control in the ramp merging scenario.

Topics: AAAI

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HOW TO CITE:

Yiwei Lyu||Wenhao Luo||John M. Dolan Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract) Proceedings of the AAAI Conference on Artificial Intelligence (2022) 13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract) AAAI 2022, 13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan (2022). Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract). Proceedings of the AAAI Conference on Artificial Intelligence, 13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan. Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract). Proceedings of the AAAI Conference on Artificial Intelligence 2022 p.13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan. 2022. Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract). "Proceedings of the AAAI Conference on Artificial Intelligence". 13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan. (2022) "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)", Proceedings of the AAAI Conference on Artificial Intelligence, p.13009-13010

Yiwei Lyu||Wenhao Luo||John M. Dolan, "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)", AAAI, p.13009-13010, 2022.

Yiwei Lyu||Wenhao Luo||John M. Dolan. "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)". Proceedings of the AAAI Conference on Artificial Intelligence, 2022, p.13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan. "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)". Proceedings of the AAAI Conference on Artificial Intelligence, (2022): 13009-13010.

Yiwei Lyu||Wenhao Luo||John M. Dolan. Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract). AAAI[Internet]. 2022[cited 2023]; 13009-13010.


ISSN: 2374-3468


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