13 citations · 19 across the 6 of their papers we have counts for
4 papers · 1 filter
Lexicographic Descent: A Gradient-Based Approach to Optimize Totally Ordered Rulebooks via Parametric Scalarization
Matteo Penlington, Alessandro Zanardi, Emilio Frazzoli +1
Safety-critical systems, such as autonomous vehicles, must satisfy conflicting constraints and objectives, collectively called rules, typically ordered lexicographically. Preemptiv…
A Counterfactual Safety Margin Perspective on the Scoring of Autonomous Vehicles' Riskiness
Alessandro Zanardi, Andrea Censi, Margherita Atzei +2
Autonomous Vehicles (AVs) promise a range of societal advantages, including broader access to mobility, reduced road accidents, and enhanced transportation efficiency. However, eva…
Factorization of Multi-Agent Sampling-Based Motion Planning
Alessandro Zanardi, Pietro Zullo, Andrea Censi +1
Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent sc…
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games
Alessandro Zanardi, Pier Giuseppe Sessa, Nando Käslin +3
We consider the interaction among agents engaging in a driving task and we model it as general-sum game. This class of games exhibits a plurality of different equilibria posing the…