Optimal Input Design for Affine Model Discrimination with Applications in Intention-Aware Vehicles

Yuhao Ding, Farshad Harirchi, Sze Yong, Emil Jacobsen, Necmiye Ozay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper considers the optimal design of input signals for the purpose of discriminating among a finite number of affine models with uncontrolled inputs and noise. Each affine model represents a different system operating mode, corresponding to unobserved intents of other drivers or robots, or to fault types or attack strategies, etc. The input design problem aims to find optimal separating/discriminating (controlled) inputs such that the output trajectories of all the affine models are guaranteed to be distinguishable from each other, despite uncertainty in the initial condition and uncontrolled inputs as well as the presence of process and measurement noise. We propose a novel formulation to solve this problem, with an emphasis on guarantees for model discrimination and optimality, in contrast to a previously proposed conservative formulation using robust optimization. This new formulation can be recast as a bilevel optimization problem and further reformulated as a mixed-integer linear program (MILP). Moreover, our fairly general problem setting allows the incorporation of objectives and/or responsibilities among rational agents. For instance, each driver has to obey traffic rules, while simultaneously optimizing for safety, comfort and energy efficiency. Finally, we demonstrate the effectiveness of our approach for identifying the intention of other vehicles in several driving scenarios.

Original languageEnglish (US)
Title of host publicationProceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages297-307
Number of pages11
ISBN (Print)9781538653012
DOIs
StatePublished - Aug 21 2018
Event9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 - Porto, Portugal
Duration: Apr 11 2018Apr 13 2018

Other

Other9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
CountryPortugal
CityPorto
Period4/11/184/13/18

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Keywords

  • Autonomous driving
  • Input design
  • Intention identification
  • Model discrimination

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

Cite this

Ding, Y., Harirchi, F., Yong, S., Jacobsen, E., & Ozay, N. (2018). Optimal Input Design for Affine Model Discrimination with Applications in Intention-Aware Vehicles. In Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 (pp. 297-307). [8443743] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCPS.2018.00036