{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/decentralized-cooperative-planning-for-1","title":"Decentralized Cooperative Planning for Automated Vehicles with Continuous Monte Carlo Tree Search","arxiv_id":"1809.03200","date":"2018-09-10","proceeding":null,"authors":["Karl Kurzer","Florian Engelhorn","J. Marius Zöllner"],"abstract":"Urban traffic scenarios often require a high degree of cooperation between\ntraffic participants to ensure safety and efficiency. Observing the behavior of\nothers, humans infer whether or not others are cooperating. This work aims to\nextend the capabilities of automated vehicles, enabling them to cooperate\nimplicitly in heterogeneous environments. Continuous actions allow for\narbitrary trajectories and hence are applicable to a much wider class of\nproblems than existing cooperative approaches with discrete action spaces.\nBased on cooperative modeling of other agents, Monte Carlo Tree Search (MCTS)\nin conjunction with Decoupled-UCT evaluates the action-values of each agent in\na cooperative and decentralized way, respecting the interdependence of actions\namong traffic participants. The extension to continuous action spaces is\naddressed by incorporating novel MCTS-specific enhancements for efficient\nsearch space exploration. The proposed algorithm is evaluated under different\nscenarios, showing that the algorithm is able to achieve effective cooperative\nplanning and generate solutions egocentric planning fails to identify.","url_abs":"http://arxiv.org/abs/1809.03200v1","url_pdf":"http://arxiv.org/pdf/1809.03200v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"decentralized-cooperative-planning-for-1","repo_url":"https://github.com/ProSeCo-Planning/proseco_planning","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}