Intersection Coordination with Priority-Based Search for Autonomous Vehicles

Jiaoyang Li, The Anh Hoang, Eugene Lin, Hai L. Vu and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 11578-11585, 2023.
[bibtex] [code] [pdf] [publisher]

@inproceedings{LiAAAI23,
  author    = {Jiaoyang Li and The Anh Hoang and Eugene Lin and Hai L. Vu and Sven Koenig},
  title     = {Intersection Coordination with Priority-Based Search for Autonomous Vehicles},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {11578--11585},
  year      = {2023}
}

Coordinating vehicles with optimal solver MILP (left), our solver PSL (middle), and greedy solver FCFS (right):

Mixed Integer Linear Programming Our MAPF-Based Algorithm First Come First Served