@patent {29524,
	title = {Multi-Level Collaborative Control System With Dual Neural Network Planning For Autonomous Vehicle Control In A Noisy Environment},
	volume = {US11131992B2},
	number = {US Patent Office},
	year = {2020},
	edition = {United States of America},
	chapter = {US},
	abstract = {
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	A RLP system for a host vehicle includes a memory and levels. The memory stores a RLP algorithm, which is a multi-agent collaborative DQN with PER algorithm. A first level includes a data processing module that provides sensor data, object location data, and state information of the host vehicle and other vehicles. A second level includes a coordinate location module that, based on the sensor data, the object location data, the state information, and a refined policy provided by the third level, generates an updated policy and a set of future coordinate locations implemented via the first level. A third level includes evaluation and target neural networks and a processor that executes instructions of the RLP algorithm for collaborative action planning between the host and other vehicles based on outputs of the evaluation and target networks and to generate the refined policy based on reward values associated with events.

},
	url = {https://patents.google.com/patent/US11131992B2/en},
	author = {Du, Zhiyuan and Lull, Joseph and Malhan, Rajesh and Ganapathi Subramanian, Sriram and Bhalla, Sushrut and Sambee, Jaspreet and Crowley, Mark and Fischmeister, Sebastian and Shin, Donghyun and Melek, William and Fidan, Baris and Woo, Ami and Sahoo, Bismaya}
}
