Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Planning Algorithms
Motion planning in the presence of moving obstacles
SFCS '85 Proceedings of the 26th Annual Symposium on Foundations of Computer Science
The MIT–Cornell collision and why it happened
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Motion planning in urban environments
Journal of Field Robotics
Safe and Distributed Kinodynamic Replanning for Vehicular Networks
Mobile Networks and Applications
Guaranteeing safety in spatially situated agents
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
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This paper addresses the problem of navigating in a provably safe manner a mobile robot with a limited field-of-view placed in a unknown dynamic environment. In such a situation, absolute motion safety (in the sense that no collision will ever take place whatever happens in the environment) is impossible to guarantee in general. It is therefore settled for a weaker level of motion safety dubbed passive motion safety: it guarantees that, if a collision takes place, the robot will be at rest.The primary contribution of this paper is the concept of Braking Inevitable Collision States (ICS), i.e. a version of the ICS corresponding to passive motion safety. Braking ICS are defined as states such that, whatever the future braking trajectory followed by the robot, a collision occurs before it is at rest. Passive motion safety is obtained by avoiding Braking ICS at all times.It is shown that Braking ICS verify properties that allow the design of an efficient Braking ICS-Checking algorithm, i.e. an algorithm that determines whether a given state is a Braking ICS or not.To validate the Braking ICS concept and demonstrate its usefulness, the Braking ICS-Checking algorithm is integrated in a reactive navigation scheme called PassAvoid. It is formally established that PassAvoid is provably passively safe in the sense that it is guaranteed that the robot will always stay away from Braking ICS no matter what happens in the environment.