Envelopes and waves: safe multivehicle collision avoidance for horizontal non-deterministic turns
International Journal on Software Tools for Technology Transfer (STTT)
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision
... ssibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur.