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Collision avoidance

About: Collision avoidance is a research topic. Over the lifetime, 8014 publications have been published within this topic receiving 111414 citations.


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Proceedings ArticleDOI
01 Dec 2006
TL;DR: It is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation.
Abstract: This paper contains two main contributions: (i) a provably correct distributed control strategy for collision avoidance and convergence of multiple holonomic agents to a desired feasible formation configuration and (ii) a connection between formation infeasibility and flocking behavior in holonomic kinematic multi-agent systems. In particular, it is shown that when inter-agent formation objectives cannot occur simultaneously in the state-space then, under certain assumptions, the agents velocity vectors and orientations converge to a common value at steady state, under the same control strategy that would lead to a feasible formation. Convergence guarantees are provided in both cases using tools from algebraic graph theory and Lyapunov analysis.

35 citations

01 Jan 1991
TL;DR: A simulator study in which seven candidate in- vehicle CAS (collision avoidance systems) were compared as to their effects on driving behavior in car-following situations found a change in the distribution of time headways and an increase in driving speed.
Abstract: This report describes a simulator study in which seven candidate in- vehicle CAS (collision avoidance systems) were compared as to their effects on driving behavior in car-following situations. The use of the CAS systems studied is accompanied by behavioral changes affecting the way in which the driving task is performed. In general, the following effects seem to be associated with the availability of a CAS: 1) a change in the distribution of time headways, in particular a reduction in the occurrence of very short headways, 2) an increase in driving speed, 3) an increase in acceleration and deceleration levels and 4) an increase in time spend driving in the left land of the road.

35 citations

Proceedings ArticleDOI
12 May 2009
TL;DR: In this paper, the authors employ partial order techniques to develop linear complexity algorithms for guaranteed collision avoidance between vehicles at highway and roundabout mergings, which are safe by construction while maintaining the liveness of the system.
Abstract: In this paper, we employ partial order techniques to develop linear complexity algorithms for guaranteed collision avoidance between vehicles at highway and roundabout mergings. These techniques can be employed by virtue of the rich structure offered by such traffic systems, which constrain vehicles to advance unidirectionally along a path. The algorithms are safe by construction while maintaining the liveness of the system. The proposed algorithms are on-line implemented in a decentralized fashion on an experimental testbed composed of two in-scale communicating vehicles continuously running on an autonomous roundabout system.

35 citations

Journal ArticleDOI
TL;DR: A self-identification method is presented based on the over-segmentation approach and the forward kinematic model of the robot, and a collision prediction algorithm is proposed to estimate the collision parameters in real-time.
Abstract: Obstacle detection plays an important role for robot collision avoidance and motion planning. This paper focuses on the study of the collision prediction of a dual-arm robot based on a 3D point cloud. Firstly, a self-identification method is presented based on the over-segmentation approach and the forward kinematic model of the robot. Secondly, a simplified 3D model of the robot is generated using the segmented point cloud. Finally, a collision prediction algorithm is proposed to estimate the collision parameters in real-time. Experimental studies using the Kinectź sensor and the Baxterź robot have been performed to demonstrate the performance of the proposed algorithms.

35 citations

Journal ArticleDOI
TL;DR: Using a differential game formulation, collision-free trajectories are generated for virtual agents satisfying single-integrator dynamics and dynamic feedback strategies are constructed for the wheeled mobile robots satisfying unicycle dynamics which ensure each of the robots reaches its target without collisions occurring.

35 citations


Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20242
2023547
20221,269
2021503
2020621
2019661