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Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance
IEEE Transactions on Cybernetics, 2017In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots ...
Lorenzo Sabattini +2 more
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Adaptive Speed Collision Avoidance For Dynamic Environments
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021This paper presents a dynamic collision avoidance framework using predictive approaches. This predictive model exploits temporal and spatial characteristics of dynamic obstacles to predict future events thus avoiding collisions. To achieve this we implement a novel combination of two Poisson processes with independent outcomes and test this on a series
Sourav Dutta +3 more
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Dynamic Window Approach with Human Imitating Collision Avoidance
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021The autonomous navigation in the crowded environment is a challenging task due to the sensor occlusion and the complex nature of the abstract social interactions. And yet, humans are capable of navigating in such complex environment. In this paper, we propose an effective navigation method that combines the learning-based and model-based methods in a ...
Sango Matsuzaki +2 more
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Predictive Collision Avoidance for the Dynamic Window Approach
2019 International Conference on Robotics and Automation (ICRA), 2019Foresighted navigation is an essential skill for robots to rise from rigid factory floor installations to much more versatile mobile robots that partake in our everyday environment. The current state of the art that provides this mobility to some extent is the Dynamic Window Approach combined with a global start-to-target path planner. However, neither
Marcell Missura, Maren Bennewitz
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Collision Avoidance by Utilizing Dynamic Road Friction Information
2020 54th Asilomar Conference on Signals, Systems, and Computers, 2020Advanced driver assistance systems require an autonomous emergency braking (AEB) system that considers varying tire-to-road friction conditions to estimate minimum emergency braking distance for collision avoidance. Conventional AEB systems, either do not consider the friction at all or assume constant friction, even though the actual road friction ...
Jonas Herzfeld +5 more
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2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS), 2020
In order to satisfy the flight safety early warning requirements of UAV to the greatest extent and improve the safety and reliability of UAV operating in mixed airspace, with reference to flight interval standards, a cylinder static protection zone model of UAV is constructed to detect the flight conflict trend and near midair collision trend between ...
Xusheng Gan +3 more
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In order to satisfy the flight safety early warning requirements of UAV to the greatest extent and improve the safety and reliability of UAV operating in mixed airspace, with reference to flight interval standards, a cylinder static protection zone model of UAV is constructed to detect the flight conflict trend and near midair collision trend between ...
Xusheng Gan +3 more
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Collision avoidance dynamics for optimal impulsive collision avoidance maneuvers
2017 8th International Conference on Recent Advances in Space Technologies (RAST), 2017This paper describes a method to calculate the optimal impulsive maneuver to avoid the collisions using Simplified General Perturbation 4 (SGP4) and Two Line Element (TLE). It also presents a rigorous analysis of the method to investigate the relative dynamics of the two colliding space objects assuming the encounter is instantaneous.
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Dynamic collision avoidance for redundant multi-robot systems
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002This paper presents a new approach to the online planning of collision-free robot motions and evasive actions for redundant multi-robot/multi-obstacle environments. The approach, based on the collision avoidance methodology CARE (collision avoidance in real-time environments) presented by Rossmann (1993), is a local planning approach which considers ...
Eckhard Freund +2 more
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A new collision avoidance model for pedestrian dynamics*
Chinese Physics B, 2015Abstract The pedestrians can only avoid collisions passively under the action of forces during simulations using the social force model, which may lead to unnatural behaviors. This paper proposes an optimization-based model for the avoidance of collisions, where the social repulsive force is removed in favor of a search for the quickest ...
Qian-Ling Wang +4 more
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Smooth Collision Avoidance Trajectories: A Dynamic Collision Avoidance Algoritm for Mobile Robots
Volume 1: 25th Design Automation Conference, 1999Abstract This paper presents an algorithm for generating Smooth Collision Avoidance Trajectories (SCAT). SCAT generation is a method that allows a mobile robot that is moving along a pre-planned path to alter a section of its path, so that it may smoothly exit the original path, avoid a predicted collision, and return to the original ...
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