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Human-robot interac...
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Stefansson, ElisKTH,Reglerteknik
(author)
Human-robot interaction for truck platooning using hierarchical dynamic games
- Article/chapterEnglish2019
Publisher, publication year, extent ...
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IEEE,2019
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printrdacarrier
Numbers
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LIBRIS-ID:oai:DiVA.org:kth-263397
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263397URI
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https://doi.org/10.23919/ECC.2019.8795627DOI
Supplementary language notes
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Language:English
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Summary in:English
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Classification
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Subject category:ref swepub-contenttype
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Subject category:kon swepub-publicationtype
Notes
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QC 20191114
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This paper proposes a controller design framework for autonomous truck platoons to ensure safe interaction with a human-driven car. The interaction is modelled as a hierarchical dynamic game, played between the human driver and the nearest truck in the platoon. The hierarchical decomposition is temporal with a high-fidelity tactical horizon predicting immediate interactions and a low-fidelity strategic horizon estimating long-horizon behaviour. The hierarchical approach enables feasible computations where human uncertainties are represented by the quantal response model, and the truck is supposed to maximise its payoff. The closed-loop control is validated via case studies using a driving simulator, where we compare our approach with a short-horizon alternative using only the tactical horizon. The results indicate that our controller is more situation-aware resulting in natural and safe interactions.
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Added entries (persons, corporate bodies, meetings, titles ...)
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Fisac, Jaime F.Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
(author)
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Sadigh, DorsaStanford Univ, Dept Comp Sci, Stanford, CA 94305 USA.
(author)
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Sastry, S. ShankarUniv Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
(author)
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Johansson, Karl H.,1967-KTH,Reglerteknik(Swepub:kth)u1h0d9k2
(author)
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KTHReglerteknik
(creator_code:org_t)
Related titles
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In:Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC): IEEE, s. 3165-3172
Internet link
To the university's database