Browsing by Subject "Predictive models"
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Item Open Access Adaptive game-theoretic decision making for autonomous vehicle control at roundabouts(Institute of Electrical and Electronics Engineers Inc., 2019) Tian, R.; Li, S.; Li, N.; Kolmanovsky, İ.; Girard, A.; Yıldız, Yıldıray; Teel, A. R.; Egerstedt, M.In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent vehicle, and adapts to an online estimated driver type of the opponent vehicle. Simulation results are reported.Item Open Access Control of underactuated planar hexapedal pronking through a dynamically embedded SLIP monopod(IEEE, 2010) Ankarali, M.M.; Saranlı, Uluç; Saranli, A.Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that the Spring-Loaded Inverted Pendulum Model (SLIP), a very successful predictive model for both natural and robotic runners, would be a good basis for more robust and maneuverable robotic pronking. In this paper, we describe how "template-based control", a controller structure based on the embedding of a simple dynamical "template" within a more complex "anchor" system, can be used to achieve stable and controllable pronking for a planar, underactuated hexapod model. In this context, high-level control of the gait is regulated through speed and height commands to the SLIP template, while the embedding controller based on approximate inverse-dynamics and carefully designed passive dynamics ensures the stability of the remaining degrees of freedom. We show through extensive simulation experiments that unlike existing open-loop alternatives, the resulting control structure provides stability, explicit maneuverability and significant robustness against sensor and actuator noise. ©2010 IEEE.Item Open Access Hierarchical reasoning game theory based approach for evaluation and testing of autonomous vehicle control systems(IEEE, 2016) Li, N.; Oyler, D.; Zhang, M.; Yıldız, Yıldıray; Girard, A.; Kolmanovsky, İ.A hierarchical game theoretic decision making framework is exploited to model driver decisions and interactions in traffic. In this paper, we apply this framework to develop a simulator to evaluate various existing autonomous driving algorithms. Specifically, two algorithms, based on Stackelberg policies and decision trees, are quantitatively compared in a traffic scenario where all the human-driven vehicles are modeled using the presented game theoretic approach.Item Open Access Time-aware and context-sensitive ensemble learning for sequential data(Institute of Electrical and Electronics Engineers, 2023-09-26) Fazla, Arda; Aydın, Mustafa E.; Kozat, Suleyman SerdarWe investigate sequential time series data through ensemble learning. Conventional ensemble algorithms and the recently introduced ones have provided significant performance improvements in widely publicized time series prediction competitions for stationary data. However, recent studies are inadequate in capturing the temporally varying statistics for non-stationary data. To this end, we introduce a novel approach using a meta learner that effectively combines base learners in both a time varying and context-dependent manner. Our approach is based on solving a weight optimization problem that minimizes a specific loss function with constraints on the linear combination of the base learners. The constraints are theoretically analyzed under known statistics and integrated into the learning procedure of the meta-learner as part of the optimization in an automated manner. We demonstrate significant performance improvements on real-life data and well-known competition datasets over the widely used conventional ensemble methods and the state-ofthe-art forecasting methods in the machine learning literature. Furthermore, we openly share the source code of our method to facilitate further research and comparison.