Towards Autonomous Driving in Dense, Heterogeneous, and Unstructured Environments

Abstract:

In this talk, I discuss many key problems in autonomous driving towards handling dense, heterogeneous, and unstructured traffic environments. Autonomous vehicles (AV) at present are restricted to operating on smooth and well-marked roads, in sparse traffic, and among well-behaved drivers. I present new techniques to perceive, predict, and navigate among human drivers in traffic that is significantly denser in terms of a number of traffic-agents, more heterogeneous in terms of size and dynamic constraints of traffic agents, and where many drivers may not follow the traffic rules and have varying behaviors. My talk is structured along three themes—perception, driver behavior modeling, and planning. More specifically, I will talk about Improved tracking and trajectory prediction algorithms for dense and heterogeneous traffic using a combination of computer vision and deep learning techniques. A novel behavior modeling approach using graph theory for characterizing human drivers as aggressive or conservative from their trajectories. Behavior-driven planning and navigation algorithms in mixed and unstructured traffic environments using game theory and risk-aware planning. Finally, I will conclude by discussing the future implications and broader applications of these ideas in the context of social robotics where robots are deployed in warehouses, restaurants, hospitals, and inside homes to assist human beings.