Towards Assume-Guarantee Profiles for Autonomous Vehicles
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| Title | Towards Assume-Guarantee Profiles for Autonomous Vehicles |
|---|---|
| Authors | Tung Phan-Minh, Karena X. Cai and Richard M. Murray |
| Source | Submitted, 2019 Conference on Decision and Control (CDC) |
| Abstract | Rules or specifications for autonomous vehicles are currently formulated on a case-by-case basis, and put together in a rather ad-hoc fashion. As a step towards eliminating this practice, we propose a systematic procedure for generating a set of supervisory specifications for self-driving cars that are 1) associated with a distributed assume-guarantee structure and 2) characterizable by the notion of consistency and completeness. Besides helping autonomous vehicles make better decisions on the road, the assume-guarantee contract structure also helps address the notion of blame when undesirable events occur. We give several game-theoretic examples to demonstrate applic bility of our framework. |
| Type | Conference paper (submitted) |
| URL | http://www.cds.caltech.edu/~murray/preprints/pcm19-cdc tr s.pdf |
| DOI | |
| Tag | pcm19-cdc |
| ID | 2019d |
| Funding | NSF VeHICaL, DENSO CPM |
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