Raghvendra V. Cowlagi

TL;DR: It is suggested that more fundamental research and cross-talk across several academic disciplines must be supported and incentivized for tackling the multi-disciplinary issues of accident causation and system safety, and two ideas that are emerging as foundational in the literature on system safety and accident causation are discussed, namely that system safety is a “control problem” and that it requires a system theoretic approach to be dealt with.

TL;DR: An implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving and observes that the motion of a special point can be modeled as a double integrator augmented with fictitious inputs.

TL;DR: The proposed iterative algorithm is suitable for real-time implementations, where hard bounds on the available computation time are imposed, and where the original H-cost optimization algorithm may not have sufficient time to converge to a solution at all.

TL;DR: This work introduces the notions of coordinability and consistency from the hierarchical and multilevel systems theory literature and investigates the applicability and the importance of these concepts to accident causation and safety.

TL;DR: A graph-search algorithm that operates on sequences of vertices and a lower level planner that ensures consistency between the two levels of hierarchy by providing meaningful costs for the edge transitions of a higher level planner using dynamically feasible, collision-free trajectories are proposed.