Intersection Coordination with Priority-Based Search for Autonomous Vehicles

Jiaoyang Li, The Anh Hoang, Eugene Lin, Hai L. Vu, Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 11578-11585, 2023.

[bibtex] [publisher] [code] [talk]

@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",
  doi       = "10.1609/aaai.v37i10.26368",
}

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