Decisions for autonomous vehicles: integrating sensors, communication, and control

This paper details the work in progress to formalize methods and algorithms for autonomous decision making, focusing on the implementation of autonomous vehicles. Many different scenarios are to be considered while focusing on a heterogeneous environment of human driven, semi-autonomous, and fully autonomous vehicles. As this work is in its early stages of development, this paper summarizes the work that has been done in the areas of vehicle to vehicle communication with control applications and high-level decision making for autonomous vehicles. The proposed method to be implemented is also presented, which aims to guarantee feasibility, safety, and stability of autonomous systems.