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Provably safe motion of mobile robots in human environments
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Mobile robots operating in a shared environment with pedestrians are required to move provably safe to avoid harming pedestrians. Current approaches like safety fields use conservative obstacle models for guaranteeing safety, which leads to degraded performance in populated environments. In this paper, we introduce an online verification approach that uses information about the current pedestrian velocities to compute possible occupancies based on a kinematic model of pedestrian motion. We
doi:10.1109/iros.2017.8202313
dblp:conf/iros/LiuRHLOA17
fatcat:dcttmu3yj5aw7ctiybphclxtlu