Inevitable collision states - A step towards safer robots

Advanced Robotics

Volumn 18, Issue 10, 2004, Pages 1001-1024

  Fraichard, Thierry ^a   Asama, Hajime ^b  

^a INRIA RHÔNE ALPES   (France)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

Collision avoidance; Motion planning; Navigation; Safety; Sensing constraints

Indexed keywords

ACCIDENT PREVENTION; COLLISION AVOIDANCE; CONSTRAINT THEORY; CONTROL SYSTEMS; MATHEMATICAL MODELS; MOTION PLANNING; NAVIGATION; TRAJECTORIES;

ROBOTIC SYSTEMS; SENSING CONSTRAINTS;

ROBOTS;

EID: 11144296376     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/1568553042674662     Document Type: Conference Paper

References (24)

1. J.-C. Latombe, Robot Motion Planning. Kluwer, Dordrecht (1991).
2. T. Lozano-Perez, Spatial planning, a configuration space approach, IEEE Trans. Comput. 32, 108-120 (1983).
3. K. Ogata, Modern Control Engineering. Prentice-Hall, Englewood Cliffs, NJ (1990).
4. J. Canny, B. Donald, J. Reif and P. Xavier, On the complexity of kynodynamic planning, in: Proc. Symp. on the Foundations of Computer Science, White Plains, NY, pp. 306-316 (1988).
5. P. G. Xavier, Provably-good approximation algorithms for optimal kinodynamic robot motion plans, PhD Thesis, Cornell University (1992).
6. Th. Fraichard, Dynamic trajectory planning with dynamic constraints: a 'state-time space' approach, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Yokohama, Vol. 2, pp. 1394-1400 (1993).
7. Th. Fraichard, Trajectory planning in a dynamic workspace: a 'state-time' approach, Adv. Robotics 13, 75-94 (1999).
8. D. Hsu, R. Kindel, J.-C. Latombe and S. Rock, Randomized kinodynamic motion planning with moving obstacles, in: Proc. Workshop on the Algorithmic Foundations of Robotics, Hanover, NH, pp. 233-255 (2000).
9. S. LaValle and J. Kuffner, Randomized kinodynamic planning, in: Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, MI, Vol. 1, pp. 473-479 (1999).
10. T. S. Wikman, M. S. Branicky and W. S. Newman, Reflexive collision avoidance: a generalized approach, in: Proc. IEEE Int. Conf. on Robotics and Automation, Atlanta, GA, Vol. 3, pp. 31-36 (1993).
11. R. Alami, T. Siméon and K. Madhava Krishna, On the influence of sensor capacities and environment dynamics onto collision-free motion plans, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, pp. 2395-2400 (2002).
12. A. R. Pritchett, Pilot performance at collision avoidance during closely spaced parallel approaches, Air Traffic Control Q. 7, 47-75 (1999).
13. R. Teo and C. Tomlin, Computing danger zones for provably safe closely spaced parallel approaches, J. Guid. Dyn. Control 26, 434-443 (2003).
14. R. Simmons, The curvature-velocity method for local obstacle avoidance, in: Proc. IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 3375-3382 (1996).
15. D. Fox, W. Burgard and S. Thrun, The dynamic window approach to collision avoidance, IEEE Robotics Automat. Mag. 4, 23-33 (1997).
16. P. Fiorini and Z. Shiller, Motion planning in dynamic environments using velocity obstacles, Int. J. Robotics Res. 17, 760-772 (1998).
17. N. Y. Ko and R. Simmons, The lane-curvature method for local obstacle avoidance, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, BC, pp. 1615-1621 (1998).
18. O. Brock and O. Khatib, High-speed navigation using the global dynamic window approach, in: Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, MI, pp. 341-346 (1999).
19. F. Large, S. Sekhavat, Z. Shiller and C. Laugier, Towards real-time global motion planning in a dynamic environment using the NLVO concept, in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, pp. 607-612 (2002).
20. J.-P. Laumond, Obstacle growing in a non-polygonal world, Information Process. Lett. 25, 41-50 (1987).
21. S. Skiena, in: The Algorithm Design Manual, pp. 395-396. Springer-Verlag, Berlin (1997).
22. Algorithmic Solutions Software GMBH, LEDA: Library of Efficient Data types and Algorithms. http://www.algorithmic-solutions.com/enleda.htm
23. S. Lavalle, Rapidly-exploring random trees: a new tool for path planning, Research Report 9811, Department of Computer Science, Iowa State University (1998).
24. Th. Fraichard and H. Asama, Inevitable collision states. a step towards safer robots? in: Proc. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Las Vegas, NV, pp. 388-393 (2003).