Intention-aware motion planning with road rules

We present an approach for intention-aware motion planning in an autonomous driving scenario, where a vehicle aims to traverse a road segment as quickly as possible, while constrained by road rules encoded in syntactically co-safe linear temporal logic. We show that by combining the RRTx algorithm with trajectory prediction using Mixed Observable Markov Decision Processes (MOMDP), we can achieve least-violating behavior wrt. mission completion time and the road rules, while ensuring that the likelihood of collisions remains below a user specified threshold. We illustrate the validity of our approach using simulations of a variety of traffic scenarios.