A reinforcement learning modular control architecture for fully automated vehicles

Jorge Villagrá; Vicente Milanés; Joshué Pérez; Jorge Godoy; Enrique Onieva; Javier Alonso; Carlos González; Teresa De Pedro; Ricardo Garcia

doi:10.1007/978-3-642-27579-1_50

A reinforcement learning modular control architecture for fully automated vehicles

Jorge Villagrá^*
, Vicente Milanés
, Joshué Pérez
, Jorge Godoy
, Enrique Onieva
, Javier Alonso
, Carlos González
, Teresa De Pedro
, Ricardo Garcia

^*Corresponding author for this work

Consejo Superior de Investigaciones Científicas (CSIC)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.

Original language	English
Title of host publication	Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers
Pages	390-397
Number of pages	8
Edition	PART 2
DOIs	https://doi.org/10.1007/978-3-642-27579-1_50
Publication status	Published - 2012
Externally published	Yes
Event	13th International Conference on Computer Aided Systems Theory, EUROCAST 2011 - Las Palmas de Gran Canaria, Spain Duration: 6 Feb 2011 → 11 Feb 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	6928 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	13th International Conference on Computer Aided Systems Theory, EUROCAST 2011
Country/Territory	Spain
City	Las Palmas de Gran Canaria
Period	6/02/11 → 11/02/11

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10.1007/978-3-642-27579-1_50

Cite this

Villagrá, J., Milanés, V., Pérez, J., Godoy, J., Onieva, E., Alonso, J., González, C., De Pedro, T., & Garcia, R. (2012). A reinforcement learning modular control architecture for fully automated vehicles. In Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers (PART 2 ed., pp. 390-397). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6928 LNCS, No. PART 2). https://doi.org/10.1007/978-3-642-27579-1_50

Villagrá, Jorge ; Milanés, Vicente ; Pérez, Joshué et al. / A reinforcement learning modular control architecture for fully automated vehicles. Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers. PART 2. ed. 2012. pp. 390-397 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

@inproceedings{8e2e8392b5e94d96bc2e8dff70210d6c,

title = "A reinforcement learning modular control architecture for fully automated vehicles",

abstract = "This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.",

author = "Jorge Villagr{\'a} and Vicente Milan{\'e}s and Joshu{\'e} P{\'e}rez and Jorge Godoy and Enrique Onieva and Javier Alonso and Carlos Gonz{\'a}lez and \{De Pedro\}, Teresa and Ricardo Garcia",

year = "2012",

doi = "10.1007/978-3-642-27579-1\_50",

language = "English",

isbn = "9783642275784",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

number = "PART 2",

pages = "390--397",

booktitle = "Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers",

edition = "PART 2",

note = "13th International Conference on Computer Aided Systems Theory, EUROCAST 2011 ; Conference date: 06-02-2011 Through 11-02-2011",

}

Villagrá, J, Milanés, V, Pérez, J, Godoy, J, Onieva, E, Alonso, J, González, C, De Pedro, T & Garcia, R 2012, A reinforcement learning modular control architecture for fully automated vehicles. in Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 6928 LNCS, pp. 390-397, 13th International Conference on Computer Aided Systems Theory, EUROCAST 2011, Las Palmas de Gran Canaria, Spain, 6/02/11. https://doi.org/10.1007/978-3-642-27579-1_50

A reinforcement learning modular control architecture for fully automated vehicles. / Villagrá, Jorge; Milanés, Vicente; Pérez, Joshué et al.
Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers. PART 2. ed. 2012. p. 390-397 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6928 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A reinforcement learning modular control architecture for fully automated vehicles

AU - Villagrá, Jorge

AU - Milanés, Vicente

AU - Pérez, Joshué

AU - Godoy, Jorge

AU - Onieva, Enrique

AU - Alonso, Javier

AU - González, Carlos

AU - De Pedro, Teresa

AU - Garcia, Ricardo

PY - 2012

Y1 - 2012

N2 - This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.

AB - This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.

UR - https://www.scopus.com/pages/publications/84856877047

U2 - 10.1007/978-3-642-27579-1_50

DO - 10.1007/978-3-642-27579-1_50

M3 - Conference contribution

AN - SCOPUS:84856877047

SN - 9783642275784

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 390

EP - 397

BT - Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers

T2 - 13th International Conference on Computer Aided Systems Theory, EUROCAST 2011

Y2 - 6 February 2011 through 11 February 2011

ER -

Villagrá J, Milanés V, Pérez J, Godoy J, Onieva E, Alonso J et al. A reinforcement learning modular control architecture for fully automated vehicles. In Computer Aided Systems Theory, EUROCAST 2011 - 13th International Conference, Revised Selected Papers. PART 2 ed. 2012. p. 390-397. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-642-27579-1_50

A reinforcement learning modular control architecture for fully automated vehicles

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