# EFFICIENT LINEAR APPROXIMATIONS TO STOCHASTIC VEHICULAR COLLISION-AVOIDANCE PROBLEMS

### Dmitri Dolgov, Ken Laberteaux

#### 2005

#### Abstract

The key components of an intelligent vehicular collision-avoidance system are sensing, evaluation, and decision making. We focus on the latter task of finding (approximately) optimal collision-avoidance control policies, a problem naturally modeled as a Markov decision process. However, standard MDP models scale exponentially with the number of state features, rendering them inept for large-scale domains. To address this, factored MDP representations and approximation methods have been proposed. We approximate collisionavoidance factored MDP using a composite approximate linear programming approach that symmetrically approximates objective functions and feasible regions of the LP. We show empirically that, combined with a novel basis-selection method, this produces high-quality approximations at very low computational cost.

Download#### Paper Citation

#### in Harvard Style

Dolgov D. and Laberteaux K. (2005). **EFFICIENT LINEAR APPROXIMATIONS TO STOCHASTIC VEHICULAR COLLISION-AVOIDANCE PROBLEMS** . In *Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,* ISBN 972-8865-29-5, pages 275-278. DOI: 10.5220/0001162002750278

#### in Bibtex Style

@conference{icinco05,

author={Dmitri Dolgov and Ken Laberteaux},

title={EFFICIENT LINEAR APPROXIMATIONS TO STOCHASTIC VEHICULAR COLLISION-AVOIDANCE PROBLEMS},

booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},

year={2005},

pages={275-278},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001162002750278},

isbn={972-8865-29-5},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,

TI - EFFICIENT LINEAR APPROXIMATIONS TO STOCHASTIC VEHICULAR COLLISION-AVOIDANCE PROBLEMS

SN - 972-8865-29-5

AU - Dolgov D.

AU - Laberteaux K.

PY - 2005

SP - 275

EP - 278

DO - 10.5220/0001162002750278