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On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles

Stefan Mitsch, Khalil Ghorbal, Andre Platzer
2013 Robotics: Science and Systems IX  
friendly safety in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well.  ...  Thus, safety of motion and obstacle avoidance are vital safety features of such robots.  ...  Other approaches, such as velocity obstacles [8] , are interesting for further work on provably safe moving obstacle avoidance.  ... 
doi:10.15607/rss.2013.ix.014 dblp:conf/rss/MitschGP13 fatcat:6suwybwk7rclrdwqr7z5w2ys4a

On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles

Stefan Mitsch, Khalil Ghorbal, Andre Platzer
friendly safety in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well.  ...  Thus, safety of motion and obstacle avoidance are vital safety features of such robots.  ...  Other approaches, such as velocity obstacles [8] , are interesting for further work on provably safe moving obstacle avoidance.  ... 
doi:10.1184/r1/6607886 fatcat:4zakdqsrhrdvnfocpbat42yakm

Computer-Assisted Engineering for Robotics and Autonomous Systems (Dagstuhl Seminar 17071)

Erika Ábrahám, Hadas Kress-Gazit, Lorenzo Natale, Armando Tacchella, Erika Ábrahám, Hadas Kress-Gazit, Lorenzo Natale, Armando Tacchella
2017 Dagstuhl Reports  
This report documents the program and the outcomes of Dagstuhl Seminar 17071 "Computer-Assisted Engineering for Robotics and Autonomous Systems".  ...  This seminar brought together researchers from three distinct communities -Robotics, Model-driven Software Engineering, and Formal Methods -to discuss the path towards creating safe and verifiable autonomous  ...  Platzer: On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles. Proceedings of Robotics: Science and Systems, 2013. Althoff, M. Althoff, D. Wollherr, M.  ... 
doi:10.18154/rwth-2018-01213 fatcat:axubp2m4nrd7zbqpfc5y6xupua

The ACFR Centre: ITS Group [ITS Research Lab]

Cristina Olaverri
2019 IEEE Intelligent Transportation Systems Magazine  
Path Planning and Provably Safe Trajectories Planning safe trajectories for autonomous vehicles is challenging, particularly when operating around dynamic obstacles.  ...  Autonomous Vehicle Platforms ■ Perception ■ Vision Based Semantic Deep Learning ■ Localization ■ Path Planning and Provably Safe Trajectories ■ Driver -Pedestrian Intention Estimation ■ Cooperative  ... 
doi:10.1109/mits.2019.2921084 fatcat:e5y7aon4ljb6rcgzz46maywpfe

Test Bed Robot Development for Cooperative Submunitions Clearance

Polly K. Pook, Christopher K. DeBolt
1999 The international journal of robotics research  
Four robots coordinate to search for, pick up, and safely deposit submunitions lying on the ground surface using a control strategy of supervised autonomy.  ...  This paper describes the development of a team of small autonomous robots that are designed to clear a field of unexploded submunitions.  ...  George Whittinghill, Richard Myers, and Kerry Kopp of ISX Corporation teamed with IS Robotics (ISR) to design and develop the operator control unit for both phases of the FETCH project.  ... 
doi:10.1177/02783649922066439 fatcat:nmrxowckhfgtrllncsco5vjyjy

Formal verification of obstacle avoidance and navigation of ground robots

Stefan Mitsch, Khalil Ghorbal, David Vogelbacher, André Platzer
2017 The international journal of robotics research  
) the stronger passive friendly safety in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well, and (iv) passive orientation safety, which allows for  ...  We complement these provably correct safety properties with liveness properties: we prove that provably safe motion is flexible enough to let the robot still navigate waypoints and pass intersections.  ...  We develop hybrid system models for collision avoidance algorithms for autonomous ground vehicles and prove that the algorithms guarantee static safety for static obstacles and both passive safety and  ... 
doi:10.1177/0278364917733549 fatcat:5qthp2qpnvbojf5li6dpafg6ye

SafeGuardPF: Safety Guaranteed Reactive Potential Fields for Mobile Robots in Unknown and Dynamic Environments [article]

Rafael Rodrigues da Silva, Samuel Silva, Grigoriy Dubrovskiy, Hai Lin
2016 arXiv   pre-print
An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles.  ...  A popular approach to collision avoidance in the face of moving obstacles is based on model predictive algorithms, which, however, may be computationally expensive.  ...  During a demonstration of collision avoidance on a real Pioneer P3-AT robot, the robot had to move towards its destination, while avoiding an unpredictable moving obstacle (represented by Fig. 6 .  ... 
arXiv:1609.07006v1 fatcat:nan356qssresfbenoohwcbwtfq

A systems engineering approach to collaborative coordination of UAS in the NAS with safety guarantees

Jacob Moschler, Yuchen R. Zhou, John S. Baras, Jungwoo Joh
2014 2014 Integrated Communications, Navigation and Surveillance Conference (ICNS) Conference Proceedings  
We develop new fundamental methodologies for high performance and provably safe autonomous and collaborative control and operation of autonomous unmanned aerial systems (UAS) in the national airspace (  ...  vehicles.  ...  Thanks also to Daniel Mellinger, Matthew Turpin, Kmel Robotics and Vijay Kumar's GRASP Laboratory at the University of Pennsylvania for helpful discussions of quadrotor dynamical models.  ... 
doi:10.1109/icnsurv.2014.6820021 fatcat:2ukouen5nff7xp72o36mqwo4i4

Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments [article]

Sean Vaskov, Shreyas Kousik, Hannah Larson, Fan Bu, James Ward, Stewart Worrall, Matthew Johnson-Roberson, Ram Vasudevan
2019 arXiv   pre-print
RTD-D is shown to produce not-at-fault behavior over thousands of simulations and several real-world hardware demonstrations on two robots: a Segway, and a small electric vehicle.  ...  One such trajectory is chosen at each iteration, or the robot executes the fail-safe maneuver from its previous trajectory which is guaranteed to be not at fault.  ...  Since our focus is on planning for ground vehicles, we make the following assumption. Assumption 3. The robot operates in the plane.  ... 
arXiv:1902.02851v1 fatcat:c373dfnsefgrlmy6sc2vwyfhky

A practical reachability-based collision avoidance algorithm for sampled-data systems: Application to ground robots

Charles Dabadie, Shahab Kaynama, Claire J. Tomlin
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We describe a practical collision avoidance algorithm that synthesizes provably safe piecewise constant control laws (compatible with the sampled-data nature of the system) for an experimental platform  ...  Our application is formulated in a pursuer-evader framework in which an automated unmanned vehicle navigates its environment while avoiding a moving obstacle that acts as a malicious agent.  ...  INTRODUCTION Collision avoidance is a central problem when dealing with safety of autonomous vehicles such as unmanned aircraft and ground robots.  ... 
doi:10.1109/iros.2014.6943149 dblp:conf/iros/DabadieKT14 fatcat:q3ktbqsxkff2dg7v326ne63w3y

Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles

Sivaranjini Srikanthakumar, Cunjia Liu, Wen Hua Chen
2011 Journal of Intelligent and Robotic Systems  
The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance manoeuvre.  ...  The integration of Unmanned Aerial Vehicles (UAVs) requires new methods to certify collision avoidance systems.  ...  As the safety of autonomous vehicles is dependent on control systems and obstacle avoidance algorithms, it must be proven that the control systems and obstacle avoidance algorithms function correctly in  ... 
doi:10.1007/s10846-011-9586-0 fatcat:qxdwfaxmjfcq3ilafsjkspphmy

Design and Analysis of Hybrid Systems, with Applications to Robotic Aerial Vehicles [chapter]

Jeremy H. Gillula, Haomiao Huang, Michael P. Vitus, Claire J. Tomlin
2011 Springer Tracts in Advanced Robotics  
In this paper, we present the use of a Hamilton-Jacobi differential game formulation for finding continuous reachable sets as a method of generating provably safe transitions through a sequence of modes  ...  Decomposing complex, highly nonlinear systems into aggregates of simpler hybrid modes has proven to be a very successful way of designing and controlling autonomous vehicles.  ...  As robotic and automated systems become more complex, it has become increasingly difficult to design and analyze these systems, and it is especially hard to provide provable guarantees on safety and performance  ... 
doi:10.1007/978-3-642-19457-3_9 fatcat:x5w2bikrpre6dpzb7qdsxifxxa

Towards unmanned systems for dismounted operations in the Canadian Forces

Blake Beckman, Jack Collier, David Mackay, Simon Monckton, Michael Trentini, Franklin Wong, Pierre Richard Bilodeau
2011 International Journal of Intelligent Defence Support Systems  
Expanding unmanned involvement in military operations will require greater vehicle autonomy and the adoption of new concepts of operations.  ...  This paper discusses the technical challenges of unmanned systems in support of dismounted operations and research efforts by Defence R&D Canada to support unmanned vehicles in this role.  ...  How fast can an autonomous vehicle drive?  ... 
doi:10.1504/ijidss.2011.037807 fatcat:6ftkog2hpvcing67x4mizym4te

Airborne mapping of complex obstacles using 2D Splinegon

Samuel B. Lazarus, Madhavan Shanmugavel, Antonios Tsourdos, Rafal Zbikowski, Brian A. White
2008 2008 American Control Conference  
This Dubins path planning algorithm is used to provide a flyable and safe path to the vehicle to fly from one location to another.  ...  The guaranteed performance is quantified by explicit bounds of the position estimate of an autonomous aerial vehicle using an extended Kalman filter and to track the obstacle so as to extract the map of  ...  INTRODUCTION The autonomous aerial vehicle has significant advantages over the ground vehicles, where it can achieve a high degree of maneuverability, high speed response time and the ability of large  ... 
doi:10.1109/acc.2008.4586662 dblp:conf/amcc/LazarusSTZW08 fatcat:i5fj3batijgb5hjucdnivevedu

ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers [article]

James Ferlez and Mahmoud Elnaggar and Yasser Shoukry and Cody Fleming
2020 arXiv   pre-print
ShieldNN contains two main novel contributions: first, it is based on a novel Barrier Function (BF) for the KBM model; and second, it is itself a provably sound algorithm that leverages this BF to a design  ...  In this paper, we consider the problem of creating a safe-by-design Rectified Linear Unit (ReLU) Neural Network (NN), which, when composed with an arbitrary control NN, makes the composition provably safe  ...  Bicycle Model (KBM) dynamics (a good approximation for four-wheeled vehicles [1] ), and a safety property that the autonomous vehicle should avoid a stationary, fixed-radius disk in the plane.  ... 
arXiv:2006.09564v1 fatcat:7ofjw465yfaothcbvbl67zo5lu
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