{"id":"https://openalex.org/W1584040247","doi":"https://doi.org/10.1109/icra.2015.7139412","title":"MPDM: Multipolicy decision-making in dynamic, uncertain environments for autonomous driving","display_name":"MPDM: Multipolicy decision-making in dynamic, uncertain environments for autonomous driving","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1584040247","doi":"https://doi.org/10.1109/icra.2015.7139412","mag":"1584040247"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139412","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020714034","display_name":"Alexander Cunningham","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alexander G. Cunningham","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","University of Michigan, Ann Arbor, 48109 USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, 48109 USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012200511","display_name":"Enric Galceran","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Enric Galceran","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","University of Michigan, Ann Arbor, 48109 USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, 48109 USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020864898","display_name":"Ryan M. Eustice","orcid":"https://orcid.org/0000-0002-9989-4942"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Eustice","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","University of Michigan, Ann Arbor, 48109 USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, 48109 USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103139078","display_name":"Edwin Olson","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edwin Olson","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","University of Michigan, Ann Arbor, 48109 USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, 48109 USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020714034"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":14.1369,"has_fulltext":false,"cited_by_count":119,"citation_normalized_percentile":{"value":0.9905788,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1670","last_page":"1677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10698","display_name":"Transportation Planning and Optimization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7501997351646423},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6043941378593445},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5230282545089722},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.48436006903648376},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.46966636180877686},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4411352276802063},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42275527119636536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3327754735946655},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.25245583057403564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13018497824668884}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7501997351646423},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6043941378593445},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5230282545089722},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.48436006903648376},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.46966636180877686},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4411352276802063},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42275527119636536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3327754735946655},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.25245583057403564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13018497824668884},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2015.7139412","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139412","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.711.3083","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.711.3083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/publications/acunningham-2015a.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.715.7128","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.715.7128","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/%7Eegalcera/papers/icra2015.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W155097506","https://openalex.org/W1977070092","https://openalex.org/W2005354226","https://openalex.org/W2032100464","https://openalex.org/W2055207897","https://openalex.org/W2058180615","https://openalex.org/W2071005201","https://openalex.org/W2074070730","https://openalex.org/W2099430963","https://openalex.org/W2102121543","https://openalex.org/W2111901564","https://openalex.org/W2113889826","https://openalex.org/W2121806728","https://openalex.org/W2124595631","https://openalex.org/W2149211351","https://openalex.org/W2152422164","https://openalex.org/W2156676156","https://openalex.org/W2160210635","https://openalex.org/W2168359464","https://openalex.org/W2406067508","https://openalex.org/W2408243243","https://openalex.org/W4293682399","https://openalex.org/W6651853181","https://openalex.org/W6674541415","https://openalex.org/W6677279966","https://openalex.org/W6678541622"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"Real-world":[0],"autonomous":[1,99,108,203],"driving":[2,100,186],"in":[3,40,111,209],"city":[4],"traffic":[5,69,120],"must":[6],"cope":[7],"with":[8,14,192],"dynamic":[9],"environments":[10],"including":[11],"other":[12,60,119,161],"agents":[13,76],"uncertain":[15],"intentions.":[16],"This":[17],"poses":[18],"a":[19,28,91,123,126,179,201,210],"challenging":[20],"decision-making":[21,89,92],"problem,":[22],"e.g.,":[23],"deciding":[24],"when":[25],"to":[26,33,67,102,146,183],"perform":[27,149],"passing":[29,206],"maneuver":[30],"or":[31],"how":[32],"safely":[34],"merge":[35],"into":[36],"traffic.":[37,112],"Previous":[38],"work":[39],"the":[41,46,55,72,98,115,135,138,143,157,166,175,190,193,198],"literature":[42],"has":[43],"typically":[44],"approached":[45],"problem":[47],"using":[48,152,178],"ad-hoc":[49],"solutions":[50],"that":[51,94],"do":[52],"not":[53],"consider":[54],"possible":[56],"future":[57],"states":[58],"of":[59,74,128,155,169],"agents,":[61,162],"and":[62,118,160,188,208],"thus":[63],"have":[64],"difficulty":[65],"scaling":[66],"complex":[68],"scenarios":[70],"where":[71],"actions":[73],"participating":[75],"are":[77],"tightly":[78],"conditioned":[79],"on":[80,200],"one":[81],"another.":[82],"In":[83],"this":[84],"paper":[85],"we":[86],"present":[87],"multipolicy":[88],"(MPDM),":[90],"algorithm":[93,136,199],"exploits":[95],"knowledge":[96],"from":[97,125,165],"domain":[101],"make":[103],"decisions":[104],"online":[105],"for":[106,142],"an":[107],"vehicle":[109,117,145,159,204],"navigating":[110],"By":[113],"assuming":[114],"controlled":[116,144,158],"participants":[121],"execute":[122],"policy":[124,141,150,191],"set":[127],"plausible":[129],"closed-loop":[130],"policies":[131],"at":[132],"every":[133],"timestep,":[134],"selects":[137],"best":[139],"available":[140],"execute.":[147],"We":[148,172,196],"election":[151],"forward":[153],"simulation":[154],"both":[156],"efficiently":[163],"sampling":[164],"high-likelihood":[167],"outcomes":[168,177],"their":[170],"interactions.":[171],"then":[173],"score":[174],"resulting":[176],"user-defined":[180],"cost":[181],"function":[182],"accommodate":[184],"different":[185],"preferences,":[187],"select":[189],"highest":[194],"score.":[195],"demonstrate":[197],"real-world":[202],"performing":[205],"maneuvers":[207],"simulated":[211],"merging":[212],"scenario.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
