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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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01 Sep 2000
TL;DR: In this article, the applicability of haptic displays for rear-end collision avoidance warnings is examined, and the authors suggest that active steering displays should be reserved for future collision avoidance system integration.
Abstract: In this report, the authors examine the applicability of haptic displays for rear-end collision avoidance warnings. Concepts and published research studies are reviewed in the report. This is followed by three small-scale studies of mono-pulse braking and active steering displays. Two parameter setting studies are first discussed. The first examined the display parameter settings of a mono-pulse braking display, while the second examined the effects of active steering vibration amplitude frequency, and duration on display detectability and appropriateness ratings. Based on the results obtained, the authors suggest that active steering displays be reserved for future collision avoidance system integration. In the third study, the authors examined the response of drivers in a car following situation to a mono-pulse braking display under two different simulated rear-end collision avoidance warning scenarios. Results suggest that mono-pulse braking displays might be of use in rear-end collision avoidance applications.

57 citations

Journal ArticleDOI
TL;DR: This work proposes a novel algorithm for extending existing collision avoidance algorithms to perform approximate, long-range collision avoidance for distant agent groups to efficiently compute trajectories that are smoother than those obtained with state-of-the-art techniques and at faster rates.
Abstract: Local collision avoidance algorithms in crowd simulation often ignore agents beyond a neighborhood of a certain size. This cutoff can result in sharp changes in trajectory when large groups of agents enter or exit these neighborhoods. In this work, we exploit the insight that exact collision avoidance is not necessary between agents at such large distances, and propose a novel algorithm for extending existing collision avoidance algorithms to perform approximate, long-range collision avoidance. Our formulation performs long-range collision avoidance for distant agent groups to efficiently compute trajectories that are smoother than those obtained with state-of-the-art techniques and at faster rates. Comparison to real-world data demonstrates that crowds simulated with our algorithm exhibit an improved speed sensitivity to density similar to human crowds. Another issue often sidestepped in existing work is that discrete and continuum collision avoidance algorithms have different regions of applicability. For example, low-density crowds cannot be modeled as a continuum, while high-density crowds can be expensive to model using discrete methods. We formulate a hybrid technique for crowd simulation which can accurately and efficiently simulate crowds at any density with seamless transitions between continuum and discrete representations. Our approach blends results from continuum and discrete algorithms, based on local density and velocity variance. In addition to being robust across a variety of group scenarios, it is also highly efficient, running at interactive rates for thousands of agents on portable systems.

57 citations

Proceedings ArticleDOI
10 Apr 2007
TL;DR: A feedback law is derived using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot and is extended to the case of multiple nonholonomic robots.
Abstract: This paper presents a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of nonholonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot. Then, we extend this result to the case of multiple nonholonomic robots, and show how different classes of multi-agent problems involving an interacting group of nonholonomic robots such as formation control can be addressed in this framework. Finally, we combine the above results to address the problem of driving a group of robots according to a given trajectory while maintaining a specific formation.

57 citations

Journal ArticleDOI
TL;DR: This study introduces the subject of manipulator’s on-line collision avoidance into a real industrial application implementing typical sensors and a commonly used collaborative industrial manipulator, KUKA iiwa.

57 citations

Proceedings ArticleDOI
03 May 2010
TL;DR: This work extends the concept of ICS to probabilistic collision states (PCS), which estimates the collision probability for a given state, and shows a significant difference in interaction behavior for active and non-deterministic moving obstacles in the robot workspace.
Abstract: For path planning algorithms of robots it is important that the robot does not reach a state of inevitable collision. In crowded environments with many humans or robots, the set of possible inevitable collision states (ICS) is often unacceptably high, such that the robot has to stop and wait in too many situations. For this reason, the concept of ICS is extended to probabilistic collision states (PCS), which estimates the collision probability for a given state. This allows to efficiently run planning algorithms through crowded environments when accepting a certain collision probability. A further novelty is that the obstacles possibly react to the robot in order to mitigate the risk of a collision. The results show a significant difference in interaction behavior. Thus, this approach is especially suited for active and non-deterministic moving obstacles in the robot workspace.

57 citations


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