AutomotivePOMDPs: Driving Scenarios formulated as POMDPs

contact: Maxime Bouton, boutonm@stanford.edu

This repository consists of different driving scenarios formulated as POMDPs. It provides a generative model for computing policies. A few of them have explicit transition and observation models.

Installation

To install this package, first add the SISL registry and the JuliaPOMDP registry such that all dependencies are automatically installed. You can run the following in the julia REPL:

using Pkg
Pkg.add("POMDPs")
using POMDPs
POMDPs.add_registry()
Pkg.Registry.add(RegistrySpec(url="https://github.com/sisl/Registry"))
Pkg.add("AutomotivePOMDPs")

Code to run

Run docs/Urban POMDP tutoial.ipynb for a visualization of the simulation environment.

Scenarios

This package exports the following POMDP Models:

• SingleOCPOMDP: Occluded crosswalk with one single pedestrian. Discrete states and observations with explicit transition and observation model.
• SingleOIPOMDP: Occluded intersection with one single car. Discrete states and observations with explicit transition and observation model.
• OCPOMDP: Occluded crosswalk with a flow of pedestrian. Generative model implementation with continuous state and observations
• OIPOMDP: Occluded T intersection with a flow of cars driving in multiple lanes. Generative model implementation with continuous state and observations
• UrbanPOMDP : Occluded T intersection with crosswalks, flow of cars and pedestrians. Generative model implementation with continuous state and observations

These models are defined according to the POMDPs.jl interface. To see how they are parameterized, toggle the documentation using ? or use the function fieldnames if documentation is not yet written.

Video of the UrbanPOMDP scenario:

Dependencies

• AutomotiveDrivingModels.jl
• POMDPs.jl