modeling behaviour
game theoric design
fast to compute
Geometric
Voronoi-Based Coverage
Voronoi-Based Cooperation
Interactive Methods
Probabilistic Risk Metrics
SVO in autonous Driving
Safety Net : Risk Level Sets
- input : position, estimates, velocity
Assumptions : other agents are self preserving, continue moving in current direction
Output Cost
Adaptive Weights
Voronio partition vs weighted Voronoi W1
Larger weighting -> Larger cell
small -> small cell
Noise shown in red
그냥 알아서 blue 하게 더해서 찾아낸다.
Obstacle-Aware Voronoi C...
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