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About this paper
Zhenmin Huang, Yusen Xie, Benshan Ma, Shaojie Shen, Jun Ma
The authors present a vehicle planner that accounts for probabilistic intentions of other agents rather than planning only for the most likely intention. It models intentions as types and uses a Bayesian game reduced to a potential game, then a parallel solver. In simulations, BNE yields greater average minimum separation than MLE in intersections; in merging, its trajectory-deviation is worse.
Summary by alphaXiv.
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