Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Risk Assessment and Planning with Bidirectional Reachability for
  Autonomous Driving   Knowing and predicting dangerous factors within a scene are two key
components during autonomous driving, especially in a crowded urban
environment. To navigate safely in environments, risk assessment is needed to
quantify and associate the risk of taking a certain action. Risk assessment and
planning is usually done by first tracking and predicting trajectories of other
agents, such as vehicles and pedestrians, and then choosing an action to avoid
collision in the future. However, few existing risk assessment algorithms
handle occlusion and other sensory limitations effectively. This paper explores
the possibility of efficient risk assessment under occlusion via both forward
and backward reachability. The proposed algorithm can not only identify where
the risk-induced factors are, but also be used for motion planning by executing
low-level commands, such as throttle. The proposed method is evaluated on
various four-way highly occluded intersections with up to five other vehicles
in the scene. Compared with other risk assessment algorithms, the proposed
method shows better efficiency, meaning that the ego vehicle reaches the goal
at a higher speed. In addition, it also lowers the median collision rate by
7.5x.

29
The categories of this paper are: funct-an
28
The categories of this paper are: alg-geom
35
The categories of this paper are: mtrl-th
7
The categories of this paper are: hep-th
14
The categories of this paper are: math-ph
23
The categories of this paper are: solv-int
18
The categories of this paper are: econ
4
The categories of this paper are: cond-mat
24
The categories of this paper are: dg-ga
11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
3
The categories of this paper are: physics
30
The categories of this paper are: q-alg
20
The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex
6
The categories of this paper are: astro-ph