4 papers · 1 filter
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch +4
Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and eff…
Dynamic Risk-Aware MPPI for Mobile Robots in Crowds via Efficient Monte Carlo Approximations
Elia Trevisan, Khaled A. Mustafa, Godert Notten +2
Deploying mobile robots safely among humans requires the motion planner to account for the uncertainty in the other agents' predicted trajectories. This remains challenging in trad…
Predictability Awareness for Efficient and Robust Multi-Agent Coordination
Roman Chiva Gil, Daniel Jarne Ornia, Khaled A. Mustafa +1
To safely and efficiently solve motion planning problems in multi-agent settings, most approaches attempt to solve a joint optimization that explicitly accounts for the responses t…
RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions
Khaled A. Mustafa, Daniel Jarne Ornia, Jens Kober +1
For an autonomous vehicle to operate reliably within real-world traffic scenarios, it is imperative to assess the repercussions of its prospective actions by anticipating the uncer…