The DOI matches its Crossref record; 18 of the 18 references it cites were found in a registry or an index.
Inevitable collision states — a step towards safer robots?
Open accessAbstract
An inevitable collision state for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs. An inevitable collision state takes into account the dynamics of both the system and the obstacles, fixed or moving. The main contribution of this paper is to lay down and explore this novel concept (and the companion concept of inevitable collision obstacle). Formal definitions of the inevitable collision states and obstacles are given. Properties fundamental for their characterization are established. This concept is very general, and can be useful both for navigation and motion planning purposes (for its own safety, a robotic system should never find itself in an inevitable collision state). To illustrate the interest of this concept, it is applied to a problem of safe motion planning for a robotic system subject to sensing constraints in a partially known environment (i.e. that may contain unexpected obstacles). In safe motion planning, the issue is to compute motions for which it is guaranteed that, no matter what happens at execution time, the robotic system never finds itself in a situation where there is no way for it to avoid collision with an unexpected obstacle.
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Cites
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Spatial Planning: A Configuration Space Approach
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A survey on motion prediction and risk assessment for intelligent vehicles
Lefèvre, S., Vasquez, D., & Laugier, C. (2014) · ROBOMECH Journal · doi:10.1186/s40648-014-0001-z · Cited by 1,112
Sampling-Based Robot Motion Planning: A Review
Elbanhawi, M., & Simic, M. (2014) · IEEE Access · doi:10.1109/access.2014.2302442 · Cited by 786
Human-robot collaborative manipulation planning using early prediction of human motion
Mainprice, J., & Berenson, D. (2013) · 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2013.6696368 · Cited by 301
Ethical Decision Making during Automated Vehicle Crashes
Goodall, N. J. (2014) · Transportation Research Record: Journal of the Transportation Research Board · doi:10.3141/2424-07 · Cited by 292
Reciprocal collision avoidance with acceleration-velocity obstacles
van den Berg, J., Snape, J., Guy, S. J., & Manocha, D. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980408 · Cited by 288
Metadata
- Authors
- Fraichard, T., & Asama, H.
- Venue
- Advanced Robotics
- Publisher
- Informa UK Limited
- Published
- 2004-01
- Volume
- 18
- Issue
- 10
- Pages
- 1001-1024
- ISSN
- 0169-1864 (ISSN-L)
- 1568-5535
- OpenAlex
- W1979743043
- Cited by
- 324
- References
- 18
- FWCI
- 9.85
- Type
- journal article
- Language
- en
- Open access
- green
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Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
