1. IV 2012, Spain rkala.99k.org 5 th June, 2012 Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials Rahul Kala, Kevin Warwick Publication of paper: R. Kala, K. Warwick (2012) Planning autonomous vehicles in the absence of speed lanes using lateral potentials, Proceedings of the 2012 IEEE Intelligent Vehicles Symposium, Alcalá de Henares, Spain, pp. 597-602.

2. IV-2012, Spain, 5 th June, 2012 Is speed lane traffic best? Requires a deep thought! 2 When bad? Diverse widths Diverse speeds Indian traffic! Disadvantages applicable here? Intelligent Vehicles Is future diverse? Motorists between lanes?

3. IV-2012, Spain, 5 th June, 2012 Problems? Beyond imaginations  3 ControlsVisionLocalizationPlanningCoordination

4. IV-2012, Spain, 5 th June, 2012 What we do? Height of madness! 4 Squeeze InGet asideOvertake Brake Brake Brake Oops Struck

5. IV-2012, Spain, 5 th June, 2012 How we do? Its ‘not’ like planning a mobile robot 5 Fuzzy Inference SystemGenetic AlgorithmsGraph-based solutionsHierarchical PlanningPotential

6. IV-2012, Spain, 5 th June, 2012 LATERAL POTENTIALS Simple, Elegant, Fast 6

7. IV-2012, Spain, 5 th June, 2012 Artificial Potential Fields A Primer 7 Source: Tiwari R, Shukla A, Kala R. (2013) Intelligent Planning for Mobile Robotics: Algorithmic Approaches, IGI Global Publishers, doi: 10.4018/978-1-4666-2074-2.

8. IV-2012, Spain, 5 th June, 20128 Planning Longitudinal Distance, Speed, Acceleration measures Lateral Lateral Potentials

9. IV-2012, Spain, 5 th June, 2012 The basics and coordinate system of use 9

10. IV-2012, Spain, 5 th June, 2012 Lateral Potentials How would ‘you’ have done it? 10

11. IV-2012, Spain, 5 th June, 2012 Considerations Decision 1: Clockwise or Anti-Clockwise? Decision 2: Magnitude? – Time to Collision (any?) – Distance Measure 11

12. IV-2012, Spain, 5 th June, 2012 RESULTS 12

13. IV-2012, Spain, 5 th June, 2012 Results - 1 13

14. IV-2012, Spain, 5 th June, 2012 Results - 2 14

15. IV-2012, Spain, 5 th June, 2012 Parameters 15 Parameters Lateral Sensitivity Longitudinal Sensitivity Mixed Sensitivity Cooperation

16. IV-2012, Spain, 5 th June, 2012 Analysis -1 16

17. IV-2012, Spain, 5 th June, 2012 Analysis - 2 17

18. IV-2012, Spain, 5 th June, 2012 Analysis - 3 18

19. IV-2012, Spain, 5 th June, 2012 Personal Advertisement Obviously Recommended 19

20. IV-2012, Spain, 5 th June, 2012 THANK YOU Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom British Council 20