Narrow Way
Same Scenario with Different Start & Goal
Centralized
Completion Time : 6.1 sec (Baseline)
Case 1
Parameters :
state weight Q = [0.01, 0.01, 0, 0]
input weight R = [1, 1]
safety weight D = 40
back up weight B = 10
safety radius : 1.2 (Blue) 2.0 (Green)
agent radius : 0.8
input range : a = [-50, 50] w = [-pi/2, pi/2]
IPG
Extra Time : - 0.5 s
Vanilla
Extra Time : + 12.5 s
Brake
Stuck
Centralized
Completion Time : 5.6 sec (Baseline)
Case 2
Parameters :
state weight Q = [0.01, 0.01, 0, 0]
input weight R = [1, 1]
safety weight D = 40
back up weight B = 10
safety radius : 1.2 (Blue) 2.0 (Green)
agent radius : 0.8
input range : a = [-50, 50] w = [-pi/2, pi/2]
IPG
Extra Time : + 0.8 s
Vanilla
Extra Time : + 4.6 s
Brake
Extra Time : + 8.8 s
Centralized
Completion Time : 5.9 sec (Baseline)
Case 3
Parameters :
state weight Q = [0.01, 0.01, 0, 0]
input weight R = [1, 1]
safety weight D = 40
back up weight B = 10
safety radius : 1.2 (Blue) 2.0 (Green)
agent radius : 0.8
input range : a = [-50, 50] w = [-pi/2, pi/2]
IPG
Extra Time : + 1.8 s
Vanilla
Extra Time : + 1.2 s
Brake
Extra Time : + 3.5 s
Centralized
Completion Time : 5.8 sec (Baseline)
Case 4
Parameters :
state weight Q = [0.01, 0.01, 0, 0]
input weight R = [1, 1]
safety weight D = 40
back up weight B = 10
safety radius : 1.2 (Blue) 2.0 (Green)
agent radius : 0.8
input range : a = [-50, 50] w = [-pi/2, pi/2]
IPG
Extra Time : + 2.1 s
Vanilla
Collision
Brake
Stuck
Centralized
Completion Time : 7.4 sec (Baseline)
Case 5
Parameters :
state weight Q = [0.01, 0.01, 0, 0]
input weight R = [1, 1]
safety weight D = 40
back up weight B = 10
safety radius : 1.2 (Blue) 2.0 (Green)
agent radius : 0.8
input range : a = [-50, 50] w = [-pi/2, pi/2]
IPG
Extra Time : + 0.2 s
Vanilla
Collision
Brake
Stuck
Closed-loop Trajectory
Case 1
Centralized
IPG
Vanilla
Brake
Case 2
Centralized
IPG
Vanilla
Brake
Case 3
Centralized
IPG
Vanilla
Brake
Case 4
Centralized
IPG
Vanilla
Brake
Case 5
Centralized
IPG
Vanilla
Brake