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Spatial Visibility Trajectory Planning Using Inverse Reinforcement Learning

Authors:
Oren Gal
Yerach Doytsher

Keywords: Visibility; 3D; Spatial analysis; Motion Planning

Abstract:
In this paper, we present a conceptual Spatial Trajectory Planning (STP) method using Rapid Random Trees (RRT) planner, generating visibility motion primitives in urban environments using Inverse Reinforcement Learning (IRL) approach. Visibility motion primitives are set by using Spatial Visibility Clustering (SVC) analysis. Based on the STP planning method, we introduce IRL formulation and analysis which learns the value function of the planner from demonstrated trajectories and generates spatial visibility trajectory planning.

Pages: 61 to 66

Copyright: Copyright (c) IARIA, 2019

Publication date: July 28, 2019

Published in: conference

ISSN: 2308-3484

ISBN: 978-1-61208-732-0

Location: Nice, France

Dates: from July 28, 2019 to August 2, 2019