Robust collaborative collision avoidance between robots with nearly symmetric crossing trajectories - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2021

Robust collaborative collision avoidance between robots with nearly symmetric crossing trajectories

Résumé

The growth in both acceptance and usage of mobile robots have given risen to novel challenges in robot navigation. Often, robots that share a space but are unable to communicate are required to safely avoid each other even under sensor noise. Current approaches have often relied on the assumption that collaboration is always done correctly, in practice, sensor noise might lead robots to make avoidance motions that are not mutually beneficial and do not actually decrease the collision risk. Our approach intends to mitigate the negative impact of sensor noise in collaborative collision avoidance of robots. As a consequence, even if robots initially take non-mutually beneficial avoidance motions they would correctly perceive their role in the next decision step.
Fichier principal
Vignette du fichier
Silva-ECMR2021.pdf (4.53 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03574780 , version 1 (15-02-2022)

Identifiants

  • HAL Id : hal-03574780 , version 1

Citer

Grimaldo Silva, Khansa Rekik, James L. Crowley. Robust collaborative collision avoidance between robots with nearly symmetric crossing trajectories. ECMR 2021 - European Conference on Mobile Robots, Aug 2021, Bonn, Germany. ⟨hal-03574780⟩
55 Consultations
44 Téléchargements

Partager

Gmail Facebook X LinkedIn More