A prerequisite to safe robot motion is to avoid Inevitable Collision States (ICS). However, the characterization of the ICS set is a challenge. Several approximation methods have been proposed, most of which either are overly conservative or fail to provide proper motion safety guarantees. In order to to improve safety guarantees, we build upon Viability Theory and adapt an algorithm designed to approximate the Viability Kernel, a concept similar to ICS. Our algorithm is applied first to a challenging static environment scenario. It is then extended to handle dynamic environments. Although it is not possible in general to ensure safety forever, we manage nonetheless to achieve infinite motion safety in two special cases.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Safe motion using viability kernels


    Contributors:


    Publication date :

    2015-05-01


    Size :

    437136 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Converging motion of conjugate flaring kernels during two large solar flares

    Zhou, Tuanhui / Ji, Haisheng / Huang, Guangli | Elsevier | 2007



    Automated driving: Safe motion planning using positively invariant sets

    Berntorp, Karl / Weiss, Avishai / Danielson, Claus et al. | IEEE | 2017