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Algorithms for the Safe Management of Autonomous Vehicles

Baïou Mourad, Mombelli Aurelien, Quilliot Alain, Adouane Lounis, Zhu Zhengze

Annals of Computer Science and Information Systems

2021

Vol. 25

153--162

We deal here with a fleet of autonomous vehicles, devoted to internal logistics inside some protected area. This fleet is ruled by a hierarchical supervision architecture, which, at the top level distributes and schedules the tasks, and, at the lowest level, ensures local safety. We focus here on the top level, while introducing a time dependent estimation of the risk induced by the traversal of any arc. We set a model, state structural results, and design a bi-level algorithm and a A* routing/scheduling algorithms which both aim at a well-fitted compromise between speed and risk and rely on reinforcement learning.