1. Motion Planning for Multiple Autonomous Vehicles
Robotics and Artificial Intelligence Laboratory
Indian Institute of Information Technology, Allahabad
Motion Planning for Multiple Autonomous Vehicles
Into an automated, cooperative, diverse and integrated futuristic transportation system
Rahul Kala
Best PhD Award Presentation at ITSC, 2014
10th October, 2014

2. Problem Solving in Mobile Robotics
Unorganized
Organized
Image Courtesy: railway-technical.com, blogs.abc.net.au
Motion Planning for Multiple Autonomous Vehicles
rkala.in

3. Trajectory Generation
Static Obstacles B C
Select the best plan:
(a) A overtakes B from right, B drifts left, A crosses the obstacles, C waits, (b) A follows B and both cross the obstacles while C waits,
(c) B crosses the obstacles followed by C and A,
(d) C crosses the obstacle a from its left, while A follows B to cross the others a
Motion Planning for Multiple Autonomous Vehicles
rkala.in

4. Trajectory Generation
Algorithms
Sampling Based
Genetic Algorithms
RRT
RRT-Connect
Graph Search Based
Multi-Level Planning
Dynamic Distributed Lanes
Reactive
Fuzzy Logic
Lateral Potential
Near-Reactive
Elastic Strip
Logic Based Planning
Motion Planning for Multiple Autonomous Vehicles
rkala.in

5. Intelligent Management of the Transportation System
Routing objective/ considerations
Routing frequency
Recurrent or non-recurrent
Traffic Lights
Lane change
Entirely semi-autonomous, mixed, manual
Reservations
Motion Planning for Multiple Autonomous Vehicles
rkala.in

6. Intelligent Management of the Transportation System
Experiment new traffic behaviours
Traffic light, Dynamic Speed Lanes
Lane Booking, Road Booking
Density Regularization, Blockages, Re-routing
Dynamic Traffic Management
Non-recurrent traffic
City based scenario
Short frequent re-planning
Single lane overtakes
Density and Traffic Light avoidance
Congestion Avoidance
Recurrent Traffic
Route and Start Time Determination
Maximize probability of reaching on time and minimize wait time
Cooperative traffic lights and lane changes
Reaching Destination before Deadline
Motion Planning for Multiple Autonomous Vehicles
rkala.in

7. Motion Planning for Multiple Autonomous Vehicles
The Thesis
Videos
Presentations
Graphical Abstract
Key Contributions
Website
Motion Planning for Multiple Autonomous Vehicles
rkala.in

8. Indian Institute of Information Technology, Allahabad
Acknowledgements
Prof. Kevin Warwick
Indian Institute of Information Technology, Allahabad
Motion Planning for Multiple Autonomous Vehicles
rkala.in

9. Motion Planning for Multiple Autonomous Vehicles
Thank You
Motion Planning for Multiple Autonomous Vehicles
rkala.in