Partial order techniques for vehicle collision avoidance: application to an autonomous roundabout test-bed

Authors:
V. Desaraju;H. C. Ro;M. Yang;E. Tay;S. Roth;D. Del Vecchio
Affiliations:
Aeronautics Department at MIT;Systems Laboratory at University of Michigan, Ann Arbor;Systems Laboratory at University of Michigan, Ann Arbor;Systems Laboratory at University of Michigan, Ann Arbor;Systems Laboratory at University of Michigan, Ann Arbor;Systems Laboratory at University of Michigan, Ann Arbor
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 2
Cited 2

A separation principle for a class of hybrid automata on a partial order

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Controllers for reachability specifications for hybrid systems

Automatica (Journal of IFAC)

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Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control
Decentralized path planning for multi-agent teams with complex constraints

Autonomous Robots

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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.