{"id":"https://openalex.org/W2903683378","doi":"https://doi.org/10.1109/itsc.2018.8569400","title":"POMDP and Hierarchical Options MDP with Continuous Actions for Autonomous Driving at Intersections","display_name":"POMDP and Hierarchical Options MDP with Continuous Actions for Autonomous Driving at Intersections","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2903683378","doi":"https://doi.org/10.1109/itsc.2018.8569400","mag":"2903683378"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2018.8569400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8569400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073672179","display_name":"Zhiqian Qiao","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiqian Qiao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040655097","display_name":"Katharina Muelling","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katharina Muelling","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Dolan","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004972470","display_name":"Praveen Palanisamy","orcid":"https://orcid.org/0000-0001-9069-3071"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Praveen Palanisamy","raw_affiliation_strings":["Research & Development, General Motors, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development, General Motors, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088286364","display_name":"Priyantha Mudalige","orcid":null},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Priyantha Mudalige","raw_affiliation_strings":["Research & Development, General Motors, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research & Development, General Motors, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.6798,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.98628138,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2377","last_page":"2382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10524","display_name":"Traffic control and management","score":0.9973999857902527,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.9616881608963013},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7774116396903992},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7744056582450867},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6984987258911133},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5931456089019775},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.551128089427948},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5152488350868225},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46814897656440735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43382638692855835},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.41103583574295044},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35055816173553467},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.2764844596385956},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.19826966524124146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10846447944641113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08192908763885498}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.9616881608963013},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7774116396903992},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7744056582450867},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6984987258911133},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5931456089019775},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.551128089427948},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5152488350868225},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46814897656440735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43382638692855835},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.41103583574295044},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35055816173553467},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.2764844596385956},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.19826966524124146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10846447944641113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08192908763885498},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2018.8569400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8569400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1488730473","https://openalex.org/W1631187438","https://openalex.org/W1757796397","https://openalex.org/W1869778509","https://openalex.org/W2012036715","https://openalex.org/W2016151598","https://openalex.org/W2121092017","https://openalex.org/W2121863487","https://openalex.org/W2123651102","https://openalex.org/W2144283793","https://openalex.org/W2161966552","https://openalex.org/W2169977622","https://openalex.org/W2173248099","https://openalex.org/W2255045308","https://openalex.org/W2344396459","https://openalex.org/W2538971299","https://openalex.org/W2607713949","https://openalex.org/W2611629860","https://openalex.org/W2739770424","https://openalex.org/W2772349589","https://openalex.org/W2773251606","https://openalex.org/W2962938178","https://openalex.org/W2963053311","https://openalex.org/W2963262099","https://openalex.org/W2963625099","https://openalex.org/W2963864421","https://openalex.org/W4214717370","https://openalex.org/W4285719527","https://openalex.org/W4297669414","https://openalex.org/W4298392598","https://openalex.org/W4298857966","https://openalex.org/W6629152578","https://openalex.org/W6636614537","https://openalex.org/W6639086533","https://openalex.org/W6681633084","https://openalex.org/W6683603353","https://openalex.org/W6703271639"],"related_works":["https://openalex.org/W1515117609","https://openalex.org/W2156371714","https://openalex.org/W2146763310","https://openalex.org/W1563041104","https://openalex.org/W1663497315","https://openalex.org/W2123927904","https://openalex.org/W1591254981","https://openalex.org/W1932117986","https://openalex.org/W3159517693","https://openalex.org/W1574991376"],"abstract_inverted_index":{"When":[0],"applying":[1],"autonomous":[2],"driving":[3],"technology":[4],"to":[5,32,45,83,113,123,142],"real-world":[6],"scenarios,":[7],"environmental":[8],"uncertainties":[9,35],"make":[10],"the":[11,18,30,37,51,71,85,105,120,124,129,137,144,147,173,176],"development":[12],"of":[13,64,122,146,175],"decision-making":[14],"algorithms":[15],"difficult.":[16],"Modeling":[17],"problem":[19,86],"as":[20,87],"a":[21,61,92,115,150],"Partially":[22],"Observable":[23],"Markov":[24],"Decision":[25],"Process":[26],"(POMDP)":[27],"[1]":[28],"allows":[29],"algorithm":[31,102],"consider":[33],"these":[34,79],"in":[36],"decision":[38],"process,":[39],"which":[40],"makes":[41],"it":[42],"more":[43],"robust":[44],"real":[46],"sensor":[47],"characteristics.":[48],"However,":[49],"solving":[50],"POMDP":[52,116],"with":[53,94,154,171],"reinforcement":[54],"learning":[55],"(RL)":[56],"[2]":[57],"often":[58],"requires":[59],"storing":[60],"large":[62],"number":[63],"observations.":[65],"Furthermore,":[66],"for":[67,149],"continuous":[68,169],"action":[69],"spaces,":[70],"system":[72],"is":[73,140],"computationally":[74],"inefficient.":[75],"This":[76],"paper":[77],"addresses":[78],"problems":[80],"by":[81],"proposing":[82],"model":[84],"an":[88],"MDP":[89],"and":[90,108,128,167],"learn":[91],"policy":[93],"RL":[95],"using":[96],"hierarchical":[97],"options":[98,166],"(HOMDP).":[99],"The":[100,158],"suggested":[101],"can":[103,161],"store":[104],"state-action":[106],"pairs":[107],"only":[109,172],"uses":[110],"current":[111,177],"observations":[112,174],"solve":[114],"problem.":[117],"We":[118],"compare":[119],"results":[121,134],"time-to-collision":[125],"method":[126,160],"[3]":[127],"proposed":[130],"POMDP-with-LSTM":[131],"method.":[132],"Our":[133],"show":[135],"that":[136],"HOMDP":[138,159],"approach":[139],"able":[141],"improve":[143],"performance":[145],"agent":[148],"four-way":[151],"intersection":[152],"task":[153],"two-way":[155],"stop":[156],"signs.":[157],"generate":[162],"both":[163],"higher-level":[164],"discrete":[165],"lower-level":[168],"actions":[170],"step.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
