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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.
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")
docs/Urban POMDP tutoial.ipynb for a visualization of the simulation environment.
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
use the function
fieldnames if documentation is not yet written.
Video of the