Centralized Cooperative Control for Autonomous Vehicles at Unsignalized All-Directional Intersections: A Multi-Agent Projection-Based Constrained Policy Optimization Approach

Rui Zhao, K. Wang, Yun Li, Y. Fan, F. Gao, Z. Gao

Expert Systems with Applications, 2023

Abstract

Multi-agent projection-based constrained policy optimization for centralized cooperative control of autonomous vehicles at unsignalized all-directional intersections. Improves safety-throughput trade-off relative to dual-Lagrangian baselines.

Published, Expert Systems with Applications 2023.