An MPC framework that uses a Wasserstein-based risk metric and a Boltzmann model of agent behavior to actively probe and infer other vehicles' intentions in multimodal prediction settings.
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Active Probing with Multimodal Predictions for Motion Planning
An MPC framework that uses a Wasserstein-based risk metric and a Boltzmann model of agent behavior to actively probe and infer other vehicles' intentions in multimodal prediction settings.