Authors: Andrea Censi, Konstantin Slutsky, Tichakorn Wongpiromsarn, Dmitry Yershov, Scott Pendleton, James Fu, Emilio Frazzoli
Published: May 1, 2019
Summary: This paper describes a new way to conveniently define the desired behavior for autonomous agents, which we use on the self-driving cars developed at nuTonomy. We define a "rulebook" as a pre-ordered set of "rules", each akin to a violation metric on the possible outcomes ("realizations"). The rules are partially ordered by priority. The semantics of a rulebook imposes a pre-order on the set of realizations.
