Table of contents:

Abstract

Chapter 1: Introduction

Chapter 2: Related Work

Chapter 3: Preliminaries

Chapter 4: Car Game Theoretic Planner

Chapter 5: Simulation Results

Chapter 6: Experimental Results

Chapter 7: Conclusion and Future Work

References

List of Figures:

Fig 1: Demonstrating performance of our algorithm in experiment……………………………………………….1

Fig 2: Piecewise polynomial trajectory over N-step planning horizon……………………………………………..4

Fig 3: Snapshots during a simulation in the blocking scenario…………………………………………………………6

Fig 4: Snapshots during simulations in the overtaking scenarios……………………………………………………..6

Fig 5: Histogram plots for blocking and overtaking scenarios……………………………………………………………7

Fig 6: 1/10 scale RC car experimental platform…………………………………………………………………………………7

Fig 7: Snapshot during RC car experiments………………………………………………………………………………………7

Fig 8: Snapshots of XI vs a simulated car experiments……………………………………………………………………..8

List of Tables: