Experiences with an interactive museum tour-guide robot
Artificial Intelligence - Special issue on applications of artificial intelligence
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Motion planning in the presence of moving obstacles
SFCS '85 Proceedings of the 26th Annual Symposium on Foundations of Computer Science
Safe distributed motion coordination for second-order systems with different planning cycles
International Journal of Robotics Research
A new method for mobile robots to avoid collision with moving obstacle
Artificial Life and Robotics
Optimal trajectories for time-critical street scenarios using discretized terminal manifolds
International Journal of Robotics Research
Motion safety and constraints compatibility for multibody robots
Autonomous Robots
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This paper presents ICS-AVOID, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), ie a state for which, no matter what the future trajectory of the robotic system is, a collision eventually occurs. By design, ICS-AVOID can handle dynamic environments since ICS do take into account the future behaviour of moving objects. ICS-AVOID is designed to keep the system away from ICS. By doing so, motion safety is guranteed (by definition a robotic system in a non-ICS state has at least one collision-free trajectory that it can use). To demonstrate the efficiency of ICS-AVOID, it has been extensively compared with two state-of-the-art collision avoidance schemes: the first one is built upon the Dynamic Window approach and the second one on the Velocity Obstacle concept. The results obtained show that, when provided with the same amount of information about the future evolution of the environment, ICS-AVOID outperforms the other two schemes. The first reason for this has to do with the extent to which each collision avoidance scheme reasons about the future. The second reason has to do with the ability of each collision avoidance scheme to find a safe control if one exists. ICS-AVOID is the only one which is complete in this respect thanks to the concept of Safe Control Kernel.