Karthick Subramanian
Robotics and autonomous systems
Hometown: Chennai, Tamil Nadu, India
Graduation date: Spring 2024
MORE | Spring 2024
Unified Frenet Frame Motion Planning Based Framework for Social Navigation
Understanding AV-human interaction is crucial yet challenging, often leading to accidents. Game theory optimizes this but is computationally inefficient. Monte Carlo Tree Search (MCTS) improves efficiency but exhaustive exploration remains an issue. Pruning, as seen in AlphaGo, helps. The researchers’ proposed framework combines MCTS with predictive motion from frenet frame-based planning, focusing on specific vehicle states. Validation with real-time data, from INTERACTION dataset, enhances reliability. The researchers transform the 2D dataset into frenet frame predictions, deploy actions in a Stackleberg game using Sarsa (lambda) and manipulate the way reward functions backpropagate.
Mentor: Wenlong Zhang
It’s hip to be square.
Students presenting projects at the Fulton Forge Student Research Expo are encouraged to download this personal QR code and include it within your poster. This allows expo attendees to explore more about your project and about you in the future.
Right click the image to save it to your computer.