Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Risk-Averse Preview-based $Q$-Learning Algorithm: Application to
  Highway Driving of Autonomous Vehicles   A risk-averse preview-based $Q$-learning planner is presented for navigation
of autonomous vehicles. To this end, the multi-lane road ahead of a vehicle is
represented by a finite-state non-stationary Markov decision process (MDP). A
risk assessment unit module is then presented that leverages the preview
information provided by sensors along with a stochastic reachability module to
assign reward values to the MDP states and update them as scenarios develop. A
sampling-based risk-averse preview-based $Q$-learning algorithm is finally
developed that generates samples using the preview information and reward
function to learn risk-averse optimal planning strategies without actual
interaction with the environment. The risk factor is imposed on the objective
function to avoid fluctuation of the $Q$ values, which can jeopardize the
vehicle's safety and/or performance. The overall hybrid automaton model of the
system is leveraged to develop a feasibility check unit module that detects
unfeasible plans and enables the planner system to proactively react to the
changes of the environment. Theoretical results are provided to bound the
number of samples required to guarantee $\epsilon$-optimal planning with a high
probability. Finally, to verify the efficiency of the presented algorithm, its
implementation on highway driving of an autonomous vehicle in a varying traffic
density is considered.

10
The categories of this paper are: q-bio
9
The categories of this paper are: nlin
14
The categories of this paper are: math-ph
36
The categories of this paper are: cmp-lg
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
12
The categories of this paper are: nucl-th
17
The categories of this paper are: q-fin
32
The categories of this paper are: atom-ph
23
The categories of this paper are: solv-int
15
The categories of this paper are: nucl-ex
35
The categories of this paper are: mtrl-th
22
The categories of this paper are: chao-dyn
16
The categories of this paper are: stat
6
The categories of this paper are: astro-ph
37
The categories of this paper are: supr-con