Research papers · 2020.08.24
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions
Overview
The controller tracks planned trajectories with MPC while preserving a reachability-based collision-free escape option. Full-scale vehicle weaving experiments evaluate minimal intervention when another vehicle behaves unexpectedly or dangerously.
Author-supplied source information
Author-supplied information on arXiv.
International Journal of Robotics Research, vol. 39, no. 10-11, pp. 1326--1345, 2020
arXiv admin note: text overlap with arXiv:1812.11315
Version: arXiv v1 — manuscript revision