Research

• Safe and Risk-Aware Reinforcement Learning for Automated Driving under Uncertainty

Publications

Danial Kamran, Thiago D. Simão, Qisong Yang, Canmanie T. Ponnambalam, Johannes Fischer, Matthijs T.J. Spaan, Martin Lauer. A Modern Perspective on Safe Automated Driving for Different Traffic Dynamics Using Constrained Reinforcement Learning. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Seiten 4017--4023, Macau, China, October 2022. [ DOI ]

Johannes Fischer, Etienne Bührle, Danial Kamran, Christoph Stiller. Guiding Belief Space Planning with Learned Models for Interactive Merging. In 2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Seiten 2542--2549, Macau, China, October 2022. [ DOI ]

Danial Kamran, Tizian Engelgeh, Marvin Busch, Johannes Fischer, Christoph Stiller. Minimizing Safety Interference for Safe and Comfortable Automated Driving with Distributional Reinforcement Learning. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 1236--1243, Prague, Czech Republic, September 2021. [ DOI ]

Danial Kamran, Yu Ren, Maximilian Naumann, Martin Lauer. High-level Decisions from a Safe Maneuver Catalog with Reinforcement Learning for Safe and Cooperative Automated Merging. In IEEE International Intelligent Transportation Systems Conference (ITSC), Indianapolis, IN, United States, September 2021. accepted.

Danial Kamran, Marvin Busch, Tizian Engelgeh. On the Challenges of Safe and Scalable Reinforcement Learning for Automated Driving at Intersections. In Proceedings of Robotics: Science and Systems (RSS) Workshops, Oregon State University at Corvallis, United States, 2020. [ http ]

Danial Kamran, Martin Lauer, Christoph Stiller. Learning Realistic High Level Decisions for Autonomous Driving at Complex Intersections. In 13. Uni-DAS e.V. Workshop Fahrerassistenz und automatisiertes Fahren, Walting, Germany, 2020. [ .pdf ]

Danial Kamran, Carlos Fernandez Lopez, Martin Lauer, Christoph Stiller. Risk-Aware High-level Decisions for Automated Driving at Occluded Intersections with Reinforcement Learning. In IEEE Intelligent Vehicles Symposium, Las Vegas, USA, 2020. [ http ]

Michael Buchholz, Fabian Gies, Andreas Danzer, Matti Henning, Charlotte Hermann, Manuel Herzog, Markus Horn, Markus Schön, Nils Rexin, Klaus Dietmayer, Carlos Fernandez, Johannes Janosovits, Danial Kamran, Christian Kinzig, Martin Lauer, Eduardo Molinos, Christoph Stiller, Lingguang Wang, Stefan Ackermann, Tobias Homolla, Hermann Winner, Grischa Gottschalg, Stefan Leinen, Matthias Becker, Johannes Feiler, Simon Hoffmann, Frank Diermeyer, Bastian Lampe, Till Beemelmanns, Raphael van Kempen, Timo Woopen, Lutz Eckstein, Nicolai Voget, Dieter Moormann, Inga Jatzkowski, Torben Stolte, Markus Maurer, Jürgen Graf, Edgar von Hinüber, Norbert Siepenkötter. Automation of the UNICARagil vehicles. In 29th Aachen Colloquium Sustainable Mobility, Band 2, Seiten 1531--1560, 2020.

Danial Kamran, Junyi Zhu, Martin Lauer. Learning Path Tracking for Real Car-like Mobile Robots From Simulation. In IEEE European Conference on Mobile Robots (ECMR), 2019. [ .pdf ]