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Advances in the Hierarchical Emergent Behaviors (HEB) approach to autonomous vehicles

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IEEE ITSM.pdf (3,778Mb)
 
10.1109/MITS.2018.2879182
 
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hdl:2117/129134

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Roca, Damian
Milito, Rodolfo
Nemirovsky, Mario
Valero Cortés, MateoMés informacióMés informacióMés informació
Document typeArticle
Defense date2020
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
ProjectCOMPUTACION DE ALTAS PRESTACIONES VII (MINECO-TIN2015-65316-P)
Abstract
Widespread deployment of autonomous vehicles (AVs) presents formidable challenges in terms on handling scalability and complexity, particularly regarding vehicular reaction in the face of unforeseen corner cases. Hierarchical Emergent Behaviors (HEB) is a scalable architecture based on the concepts of emergent behaviors and hierarchical decomposition. It relies on a few simple but powerful rules to govern local vehicular interactions. Rather than requiring prescriptive programming of every possible scenario, HEB’s approach relies on global behaviors induced by the application of these local, well-understood rules. Our first two papers on HEB focused on a primal set of rules applied at the first hierarchical level. On the path to systematize a solid design methodology, this paper proposes additional rules for the second level, studies through simulations the resultant richer set of emergent behaviors, and discusses the communica-tion mechanisms between the different levels.
CitationRoca, D. [et al.]. Advances in the Hierarchical Emergent Behaviors (HEB) approach to autonomous vehicles. "IEEE intelligent transportation systems magazine", 2020, vol. 12, núm. 4, p.57-65. 
URIhttp://hdl.handle.net/2117/129134
DOI10.1109/MITS.2018.2879182
ISSN1939-1390
Publisher versionhttps://ieeexplore.ieee.org/document/8533344
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  • Departament d'Arquitectura de Computadors - Articles de revista [1.143]
  • CAP - Grup de Computació d'Altes Prestacions - Articles de revista [382]
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