AutonomousMerging.jl

Maintainer: Maxime Bouton (boutonm@stanford.edu)

This code base implements an autonomous merging scenario using POMDPs.jl and AutomotiveDrivingModels.jl described in the paper: M. Bouton, A. Nakhaei, K. Fujimura, M. J. Kochenderfer, "Cooperation-Aware Reinforcement Learning for Merging in Dense Traffic," in IEEE Conference on Intelligent Transportation Systems (ITSC), 2019. ArXiv

Installation

To install this julia package, add the JuliaPOMDP registry and the sisl registry:

using Pkg 
Pkg.add("POMDPs")
using POMDPs
POMDPs.add_registry() 
Pkg.Registry.add(RegistrySpec(url="https://github.com/sisl/Registry"))
Pkg.add("AutonomousMerging")

Folder structure

• src: the source code containing the MDP definition, the C-IDM model definition, some feature extraction helpers, as well as some rendering helpers
• test: the tests run by Travis are defined in runtests.jl. The other file are interactive tests for debugging using visualizations.
• scripts: contains training, simulation, and analysis scripts

Documentation

All the objects exported by the package have docstring that can be consulted using the julia command ?. For further documentation we refer the user to POMDPs.jl and AutomotiveDrivingModels.jl