Determining states of inevitable collision using reachability analysis

Andreas Lawitzky; Anselm Nicklas; Dirk Wollherr; Martin Buss

doi:10.1109/IROS.2014.6943146

Determining states of inevitable collision using reachability analysis

Andreas Lawitzky, Anselm Nicklas, Dirk Wollherr, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

24 Scopus citations

Abstract

In this paper the states of inevitable collision for mobile robots are determined using reachable set theory. With this theory the safety for robotic platforms can be guaranteed, still allowing maximum flexibility for navigation. Making use of reachability analysis, limitations due to input sampling as in previous approaches are avoided. Using reachability analysis the obstacles are grown in the state space. The mathematical background is shown in this paper and an exemplary algorithm is given for static environments. This implementation can handle arbitrary environments with multiple obstacles and different high-dimensional linear and non-linear system dynamics including the car-like kinematic model. By means of experimental results in simulated environments, the validity of the proposed concept is shown.

Original language	English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4142-4147
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943146
State	Published - 31 Oct 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sep 2014 → 18 Sep 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

Access to Document

10.1109/IROS.2014.6943146

Cite this

Lawitzky, A., Nicklas, A., Wollherr, D., & Buss, M. (2014). Determining states of inevitable collision using reachability analysis. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4142-4147). Article 6943146 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943146

Lawitzky, Andreas ; Nicklas, Anselm ; Wollherr, Dirk et al. / Determining states of inevitable collision using reachability analysis. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4142-4147 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "In this paper the states of inevitable collision for mobile robots are determined using reachable set theory. With this theory the safety for robotic platforms can be guaranteed, still allowing maximum flexibility for navigation. Making use of reachability analysis, limitations due to input sampling as in previous approaches are avoided. Using reachability analysis the obstacles are grown in the state space. The mathematical background is shown in this paper and an exemplary algorithm is given for static environments. This implementation can handle arbitrary environments with multiple obstacles and different high-dimensional linear and non-linear system dynamics including the car-like kinematic model. By means of experimental results in simulated environments, the validity of the proposed concept is shown.",

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Lawitzky, A, Nicklas, A, Wollherr, D & Buss, M 2014, Determining states of inevitable collision using reachability analysis. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943146, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4142-4147, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943146

Determining states of inevitable collision using reachability analysis. / Lawitzky, Andreas; Nicklas, Anselm; Wollherr, Dirk et al.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4142-4147 6943146 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper the states of inevitable collision for mobile robots are determined using reachable set theory. With this theory the safety for robotic platforms can be guaranteed, still allowing maximum flexibility for navigation. Making use of reachability analysis, limitations due to input sampling as in previous approaches are avoided. Using reachability analysis the obstacles are grown in the state space. The mathematical background is shown in this paper and an exemplary algorithm is given for static environments. This implementation can handle arbitrary environments with multiple obstacles and different high-dimensional linear and non-linear system dynamics including the car-like kinematic model. By means of experimental results in simulated environments, the validity of the proposed concept is shown.

AB - In this paper the states of inevitable collision for mobile robots are determined using reachable set theory. With this theory the safety for robotic platforms can be guaranteed, still allowing maximum flexibility for navigation. Making use of reachability analysis, limitations due to input sampling as in previous approaches are avoided. Using reachability analysis the obstacles are grown in the state space. The mathematical background is shown in this paper and an exemplary algorithm is given for static environments. This implementation can handle arbitrary environments with multiple obstacles and different high-dimensional linear and non-linear system dynamics including the car-like kinematic model. By means of experimental results in simulated environments, the validity of the proposed concept is shown.

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Lawitzky A, Nicklas A, Wollherr D, Buss M. Determining states of inevitable collision using reachability analysis. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4142-4147. 6943146. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943146

Determining states of inevitable collision using reachability analysis

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