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Authors: Mykel J. Kochenderfer and James P. Chryssanthacopoulos

Affiliation: Massachusetts Institute of Technology, United States

Keyword(s): Markov decision processes, Dynamic programming, Collision avoidance.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Autonomous Systems ; Reactive AI ; Soft Computing ; Symbolic Systems ; Uncertainty in AI

Abstract: Deciding when and how to avoid collision in stochastic environments requires accounting for the likelihood and relative costs of future sequences of outcomes in response to different sequences of actions. Prior work has investigated formulating the problem as a Markov decision process, discretizing the state space, and solving for the optimal strategy using dynamic programming. Experiments have shown that such an approach can be very effective, but scaling to higher-dimensional problems can be challenging due to the exponential growth of the discrete state space. This paper presents an approach that can greatly reduce the complexity of computing the optimal strategy in problems where only some of the dimensions of the problem are controllable. The approach is demonstrated on an airborne collision avoidance problem where the system must recommend maneuvers to an imperfect pilot.

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Paper citation in several formats:
J. Kochenderfer, M. and P. Chryssanthacopoulos, J. (2011). PARTIALLY-CONTROLLED MARKOV DECISION PROCESSES FOR COLLISION AVOIDANCE SYSTEMS. In Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART; ISBN 978-989-8425-40-9; ISSN 2184-433X, SciTePress, pages 61-70. DOI: 10.5220/0003135800610070

@conference{icaart11,
author={Mykel {J. Kochenderfer}. and James {P. Chryssanthacopoulos}.},
title={PARTIALLY-CONTROLLED MARKOV DECISION PROCESSES FOR COLLISION AVOIDANCE SYSTEMS},
booktitle={Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART},
year={2011},
pages={61-70},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003135800610070},
isbn={978-989-8425-40-9},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART
TI - PARTIALLY-CONTROLLED MARKOV DECISION PROCESSES FOR COLLISION AVOIDANCE SYSTEMS
SN - 978-989-8425-40-9
IS - 2184-433X
AU - J. Kochenderfer, M.
AU - P. Chryssanthacopoulos, J.
PY - 2011
SP - 61
EP - 70
DO - 10.5220/0003135800610070
PB - SciTePress

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