Research papers · 2020.01.23
On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
On Infusing Reachability-Based Safety Assurance Within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
Overview
The architecture tracks higher-level planned trajectories while maintaining an available collision-avoidance maneuver. Reachability analysis and MPC are combined and demonstrated through full-scale vehicle weaving when another driver deviates from predicted behavior.
Author-supplied source information
Author-supplied information on arXiv.
Presented at the International Symposium on Experimental Robotics, Buenos Aires, Argentina, 2018
Version: arXiv v1 — manuscript revision