This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and model their intentions as discrete-valued random variables. Then, we focus on a control objective specified as belief-space temporal logic specifications. From this stochastic control problem, we derive a sound deterministic control problem using stochastic expansion and solve it using shrinking-horizon model predictive control.

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[1] Zengjie Zhang, "Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion", IEEE Dataport, 2024. [Online]. Available: http://dx.doi.org/10.21227/d5yc-pn12. Accessed: Dec. 26, 2024.
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doi = {10.21227/d5yc-pn12},
url = {http://dx.doi.org/10.21227/d5yc-pn12},
author = {Zengjie Zhang },
publisher = {IEEE Dataport},
title = {Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion},
year = {2024} }
TY - DATA
T1 - Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion
AU - Zengjie Zhang
PY - 2024
PB - IEEE Dataport
UR - 10.21227/d5yc-pn12
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Zengjie Zhang. (2024). Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion. IEEE Dataport. http://dx.doi.org/10.21227/d5yc-pn12
Zengjie Zhang, 2024. Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion. Available at: http://dx.doi.org/10.21227/d5yc-pn12.
Zengjie Zhang. (2024). "Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion." Web.
1. Zengjie Zhang. Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion [Internet]. IEEE Dataport; 2024. Available from : http://dx.doi.org/10.21227/d5yc-pn12
Zengjie Zhang. "Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion." doi: 10.21227/d5yc-pn12