Inevitable Collision States: a Probabilistic Perspective

Antoine Bautin 1, 2 Luis Martinez-Gomez 1 Thierry Fraichard 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
2 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : For its own safety, a robot system should never find itself in a state where there is no feasible trajectory to avoid collision with an obstacle. Such a state is an Inevitable Collision State (ICS). The ICS concept is particularly useful for navigation in dynamic environments because it takes into account the future behaviour of the moving objects. Accordingly it requires a model of the future evolution of the environment. In the real-world, the future trajectories of the obstacles are generally unknown and only estimates are available. This paper introduces a probabilistic formulation of the ICS concept which incorporates uncertainty in the model of the future trajectories of the obstacles. It also presents two novel probabilistic ICSchecking algorithms that are compared with their deterministic counterpart.
Document type :
Conference papers
Complete list of metadatas

https://hal.inria.fr/inria-00546366
Contributor : Antoine Bautin <>
Submitted on : Thursday, February 3, 2011 - 1:46:34 PM
Last modification on : Monday, August 19, 2019 - 4:42:03 PM
Long-term archiving on : Thursday, June 30, 2011 - 1:04:33 PM

Identifiers

Citation

Antoine Bautin, Luis Martinez-Gomez, Thierry Fraichard. Inevitable Collision States: a Probabilistic Perspective. IEEE International Conference on Robotics and Automation - ICRA 2010, May 2010, Anchorage, AK, United States. pp.4022 - 4027, ⟨10.1109/ROBOT.2010.5509233⟩. ⟨inria-00546366⟩

Share

Metrics

Record views

653

Files downloads

842