TY - GEN
T1 - Computing unions of inevitable collision states and increasing safety to unexpected obstacles
AU - Althoff, Daniel
AU - Brand, Christoph N.
AU - Wollherr, Dirk
AU - Buss, Martin
PY - 2011
Y1 - 2011
N2 - For reasoning about the safety of a robot system, it is sufficient to pretend the robot to reach an Inevitable Collision Sate (ICS). Otherwise, there exists no future trajectory which can avoid a collision. The usage of ICS is limited due to its computational complexity. One reason for this is, that the ICS computation cannot be done separately for each obstacle. Hence, ICS needs to be recomputed from scratch if another object appears in the scene. The main contribution of this paper is a modified ICS calculation which allows to compute the union of ICS sets in a sequential manner, thus reducing the computational requirements in case of new obstacles. Therefore, two novel ICS-Checker algorithms are presented reducing the computational effort. Furthermore, this novel calculation is used to reduce the probability of being in an ICS regarding an unforeseen obstacle.
AB - For reasoning about the safety of a robot system, it is sufficient to pretend the robot to reach an Inevitable Collision Sate (ICS). Otherwise, there exists no future trajectory which can avoid a collision. The usage of ICS is limited due to its computational complexity. One reason for this is, that the ICS computation cannot be done separately for each obstacle. Hence, ICS needs to be recomputed from scratch if another object appears in the scene. The main contribution of this paper is a modified ICS calculation which allows to compute the union of ICS sets in a sequential manner, thus reducing the computational requirements in case of new obstacles. Therefore, two novel ICS-Checker algorithms are presented reducing the computational effort. Furthermore, this novel calculation is used to reduce the probability of being in an ICS regarding an unforeseen obstacle.
UR - http://www.scopus.com/inward/record.url?scp=84455168974&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048104
DO - 10.1109/IROS.2011.6048104
M3 - Conference contribution
AN - SCOPUS:84455168974
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3114
EP - 3119
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -