Ömer Şahin Taş

Research

Safe Motion Planning under Uncertainty

Most of the planning approaches process environment information not in a probabilistic way. If they do, they do not ensure safety. I develop motion planners that consider uncertain environment model and given the current level of uncertainty, ensure the presence of a fallback motion plan.

Information Gathering Planning

What about executing dedicated actions that maximize the vehicle’s information on the environment? Or planning actions that postpone maneuver decisions whenever the current uncertainty is too high? My research tackles these aspects.

Safe Deep Reinforcement Learning

Reward (in RL) is not enough. Constraints are essential. I focus on maintaining safety and fairness in RL.

Monte-Carlo Tree Search based POMDP solvers

Almost every problem in life can be formulated as a POMDP. Solving these is computationally expensive. I develop real-time capable MCTS-based solvers.

Cooperative Automated Driving

A hardware-friendly and promising way to increase the reliability of automated vehicles is utilizing intervehicular communication.

Automated Vehicle System Degradation

An autonomous system must perform performance assessment to adapt its behavior to its capabilities. Unfortunately, this aspect is not studied by many.

Publications

Name	Material
Royden Wagner, Marvin Klemp, Carlos Fernandez Lopez, Ömer Sahin Tas. Road Barlow Twins: Redundancy Reduction for Motion Prediction. In IEEE ICRA Workshop on Pretraining for Robotics (PT4R), May 2023.
Ömer Sahin Tas. Motion Planning for Autonomous Vehicles in Partially Observable Environments. Ph.D. thesis, Karlsruhe Institute of Technology, 2022.
Christoph Burger, Johannes Fischer, Frank Bieder, Ömer Sahin Tas, Christoph Stiller. Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles Using Bi-level Optimization. In Proc. IEEE Intell. Trans. Syst. Conf., Macau, China, November 2022.
Mohit Kumar, Peter Strauss, Sven Kraus, Ömer Sahin Tas, Christoph Stiller. Sharpness Continuous Trajectory Optimization and Sparsification for Automated Vehicles. In Proc. IEEE Intell. Veh. Symp., July 2022.
Mohit Kumar, Andreas Haas, Peter Strauss, Sven Kraus, Ömer Sahin Tas, Christoph Stiller. Conception and Experimental Validation of a Model Predictive Control (MPC) for Lateral Control of a Truck-Trailer. In Proc. IEEE Intell. Veh. Symp., July 2022.
Ömer Sahin Tas, Felix Hauser, Martin Lauer. Efficient Sampling in POMDPs with Lipschitz Bandits for Motion Planning in Continuous Spaces. In Proc. IEEE Intell. Veh. Symp., July 2021.
Ömer Sahin Tas, Christoph Stiller. Tackling Existence Probabilities of Objects with Motion Planning for Automated Urban Driving. In Robotics: Science and Systems (RSS) - Interaction and Decision-Making in Autonomous-Driving workshop, July 2020.
Johannes Fischer, Ömer Sahin Tas. Information Particle Filter Tree: An Online Algorithm for POMDPs with Belief-Based Rewards on Continuous Domains. In Proceedings of the 37th International Conference on Machine Learning (ICML), Vienna, Austria, July 2020.
Martin Lauer, Ömer Sahin Tas. Machbarkeitsstudie zum automatisierten Fahren von HO-LKWs im Murgtal, December 2019.
Ömer Sahin Tas, Felix Hauser, Christoph Stiller. Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering. In Proc. IEEE Intell. Trans. Syst. Conf., Hawaii, USA, November 2018.
Ömer Sahin Tas, Christoph Stiller. Limited Visibility and Uncertainty Aware Motion Planning for Automated Driving. In Proc. IEEE Intell. Veh. Symp., Changshu, China, June 2018.
Ömer Sahin Tas, Niels Ole Salscheider, Fabian Poggenhans, Sascha Wirges, Claudio Bandera, Marc René Zofka, Tobias Strauss, J. Marius Zöllner, Christoph Stiller. Making Bertha Cooperate - Team AnnieWAY's Entry to the 2016 Grand Cooperative Driving Challenge. IEEE Transactions on Intelligent Transportation Systems, 19(4):1262-1276, April 2018
Jannik Quehl, Haohao Hu, Ömer Sahin Tas, Eike Rehder, Martin Lauer.How Good is My Prediction? Finding a Similarity Measure for Trajectory Prediction Evaluation. In Proc. IEEE Intell. Trans. Syst. Conf.Yokohama, Japan, October 2017.
Ömer Sahin Tas, Stefan Hörmann, Bernd Schäufele, Florian Kuhnt. Automated Vehicle System Architecture with Performance Assessment.. In Proc. IEEE Intell. Trans. Syst. Conf., Yokohama, Japan, October 2017.
Christoph Burger, Piotr F Orzechowski, Ömer Sahin Tas, Christoph Stiller. Rating Cooperative Driving: A Scheme for Behavior Assessment. In Proc. IEEE Intell. Trans. Syst. Conf., Yokohama, Japan, October 2017.
Maximilian Naumann, Piotr Orzechowski, Christoph Burger, Ömer Sahin Tas, Christoph Stiller. Herausforderungen für die Verhaltensplanung kooperativer automatischer Fahrzeuge. In AAET Automatisiertes und vernetztes Fahren, Beiträge zum gleichnamigen 18. Braunschweiger Symposium vom 8. und 9. Februar 2017, Seiten 287--307, Braunschweig, Germany, Feb 2017. ITS automotive nord e.V. ISBN: 978-3-937655-41-3.
André-Marcel Hellmund, Sascha Wirges, Ömer Sahin Tas, Claudio Bandera, Niels Ole Salscheider. Robot Operating System: A Modular Software Framework for Automated Driving. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), Rio de Janeiro, Brazil, November 2016.
Ömer Sahin Tas, Florian Kuhnt, Marius Zöllner, Christoph Stiller. Functional System Architectures towards Fully Automated Driving. In Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Gothenburg, Sweden, June 2016.
Philipp Bender, Ömer Sahin Tas, Julius Ziegler, Christoph Stiller. The combinatorial aspect of motion planning: Maneuver variants in structured environments. In IEEE Intelligent Vehicles Symposium (IV), Seoul, Korea, June 2015.
Ömer Sahin Tas. Integrating Combinatorial Reasoning and Continuous Methods for Optimal Motion Planning of Autonomous Vehicles. Master's Thesis , Karlsruhe Institute of Technology, September 2014.
Levent Guvenc, Ismail Meriç Can Uygan, Kerim Kahraman, Raif Karaahmetoglu, Ilker Altay, Mutlu Senturk, Mümin Tolga Emirler, Ahu Ece Hartavi Karci, Bilin Aksun Guvenc, Erdinç Altug, Murat Can Turan, Ömer Sahin Tas, Eray Bozkurt, Ümit Ozguner, Keith Redmill, Arda Kurt, Baris Efendioglu. Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge. In IEEE Transactions on Intelligent Transportation Systems, 13(3):1062-1074, September 2012