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Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed
Open accessAbstract
This paper describes the implementation of a multi-vehicle supervisor to prevent collisions at intersections. The experiments are performed on an intersection testbed consisting of three RC cars. Here, we account for uncertainty in car dynamics and state measurement, and the presence of an uncontrolled car, which is human-driven. The supervisor overrides the controlled cars only when necessary to avoid a possible future collision. From the experiments, we demonstrate that intersection collisions are averted, that is, the cars continuously and safely run on the paths without stopping 92.8% of the times.
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“As for traffic supervision and warning, a supervisor system receiving vehicle updates, predicting and addressing collisions is necessary, which helps them receive early warning information for effective rescue and traffic evacuation efforts [98].”
From Vehicle-to-Everything Communication in Intelligent Connected Vehicles: A Survey and Taxonomy (2025) · cites this paper as [98]
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References 26 · Cited by 25
Metadata
- Authors
- Ahn, H., Rizzi, A., Colombo, A., & Del Vecchio, D.
- Affiliations
- Massachusetts Institute of Technology (US)
- Cornell University (US)
- Politecnico di Milano (IT)
- Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, 02139, USA
- Venue
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publisher
- IEEE
- Published
- 2015-09
- Pages
- 4834-4839
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2213739823
- Cited by
- 25
- References
- 26
- Citations by year
- 2025: 2 · 2024: 3 · 2023: 4 · 2022: 2 · 2021: 1 · 2019: 3 · 2018: 1 · 2017: 2 · 2016: 7
- FWCI
- 4.67
- Type
- conference paper
- Language
- en
- Open access
- green
- hdl.handle.net
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- DSpace@MIT (Massachusetts Institute of Technology) (submittedVersion, cc-by-nc-sa)
- Virtual Community of Pathological Anatomy (University of Castilla La Mancha) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Traffic control and management
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Keywords
- intersection safety, semi-autonomous vehicles, RC car, human-driven vehicles, autonomous driving
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- CoChat. (2026). Citation check: Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed. https://app.cochat.ai/papers/10.1109/iros.2015.7354056
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- Ahn, H., Rizzi, A., Colombo, A., & Del Vecchio, D. (2015). Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros.2015.7354056
