Inevitable Collision States: a Probabilistic Perspective
Identifieur interne : 002A95 ( Hal/Curation ); précédent : 002A94; suivant : 002A96Inevitable Collision States: a Probabilistic Perspective
Auteurs : Antoine Bautin [France] ; Luis Martinez-Gomez [France] ; Thierry Fraichard [France]Source :
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Abstract
For its own safety, a robot system should never find itself in a state where there is no feasible trajectory to avoid collision with an obstacle. Such a state is an Inevitable Collision State (ICS). The ICS concept is particularly useful for navigation in dynamic environments because it takes into account the future behaviour of the moving objects. Accordingly it requires a model of the future evolution of the environment. In the real-world, the future trajectories of the obstacles are generally unknown and only estimates are available. This paper introduces a probabilistic formulation of the ICS concept which incorporates uncertainty in the model of the future trajectories of the obstacles. It also presents two novel probabilistic ICSchecking algorithms that are compared with their deterministic counterpart.
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DOI: 10.1109/ROBOT.2010.5509233
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Such a state is an Inevitable Collision State (ICS). The ICS concept is particularly useful for navigation in dynamic environments because it takes into account the future behaviour of the moving objects. Accordingly it requires a model of the future evolution of the environment. In the real-world, the future trajectories of the obstacles are generally unknown and only estimates are available. This paper introduces a probabilistic formulation of the ICS concept which incorporates uncertainty in the model of the future trajectories of the obstacles. It also presents two novel probabilistic ICSchecking algorithms that are compared with their deterministic counterpart.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Inevitable Collision States: a Probabilistic Perspective</title><author role="aut"><persName><forename type="first">Antoine</forename><surname>Bautin</surname></persName><email>antoine.bautin@inria.fr</email><idno type="halauthor">557173</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Luis</forename><surname>Martinez-Gomez</surname></persName><email></email><idno type="halauthor">209906</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation></author><author role="aut"><persName><forename type="first">Thierry</forename><surname>Fraichard</surname></persName><email>thierry.fraichard@inria.fr</email><idno type="halauthor">80638</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation></author><editor role="depositor"><persName><forename>Antoine</forename><surname>Bautin</surname></persName><email>antoine.bautin@inria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2011-02-03 13:46:34</date><date type="whenModified">2016-05-18 08:55:48</date><date type="whenReleased">2011-02-03 13:56:28</date><date type="whenProduced">2010-05-03</date><date type="whenEndEmbargoed">2011-02-03</date><ref type="file" target="https://hal.inria.fr/inria-00546366/document"><date notBefore="2011-02-03"></date></ref><ref type="file" subtype="author" n="1" target="https://hal.inria.fr/inria-00546366/file/icra10.pdf"><date notBefore="2011-02-03"></date></ref><ref type="annex" subtype="other" n="0" target="https://hal.inria.fr/inria-00546366/file/icra2010-Presentation.pdf"><date notBefore="2011-02-03"></date></ref></edition><respStmt><resp>contributor</resp><name key="157003"><persName><forename>Antoine</forename><surname>Bautin</surname></persName><email>antoine.bautin@inria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">inria-00546366</idno><idno type="halUri">https://hal.inria.fr/inria-00546366</idno><idno type="halBibtex">bautin:inria-00546366</idno><idno type="halRefHtml">IEEE International Conference on Robotics and Automation - ICRA 2010, May 2010, Anchorage, AK, United States. IEEE, pp.4022 - 4027, 2010, <http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5509233>. <10.1109/ROBOT.2010.5509233></idno><idno type="halRef">IEEE International Conference on Robotics and Automation - ICRA 2010, May 2010, Anchorage, AK, United States. IEEE, pp.4022 - 4027, 2010, <http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5509233>. <10.1109/ROBOT.2010.5509233></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="UNIV-GRENOBLE1" p="UGA">Université Joseph Fourier - Grenoble I</idno><idno type="stamp" n="UNIV-PMF_GRENOBLE" p="UGA">Université Pierre-Mendès-France - Grenoble II</idno><idno type="stamp" n="INPG" p="UGA">Institut polytechnique de Grenoble</idno><idno type="stamp" n="INPL">Institut National Polytechnique de Lorraine</idno><idno type="stamp" n="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno><idno type="stamp" n="LIG" p="UGA">Laboratoire d'Informatique de Grenoble</idno><idno type="stamp" n="LORIA2">Publications du LORIA</idno><idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno><idno type="stamp" n="LORIA-CSAI" p="LORIA">Systèmes complexes et intelligence artificielle</idno><idno type="stamp" n="LORIA">LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno><idno type="stamp" n="UGA">HAL Grenoble Alpes</idno><idno type="stamp" n="INRIA2">INRIA 2</idno><idno type="stamp" n="INRIA-LORRAINE">INRIA Nancy - Grand Est</idno><idno type="stamp" n="LABO-LORIA-SET" p="LORIA">LABO-LORIA-SET</idno><idno type="stamp" n="LIG_SIC_E-MOTION" p="LIG_SIC">E-MOTION</idno><idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="UNIV-LORRAINE">Université de Lorraine</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Inevitable Collision States: a Probabilistic Perspective</title><author role="aut"><persName><forename type="first">Antoine</forename><surname>Bautin</surname></persName><email>antoine.bautin@inria.fr</email><idno type="halAuthorId">557173</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation><affiliation ref="#struct-2355"></affiliation></author><author role="aut"><persName><forename type="first">Luis</forename><surname>Martinez-Gomez</surname></persName><idno type="halAuthorId">209906</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation></author><author role="aut"><persName><forename type="first">Thierry</forename><surname>Fraichard</surname></persName><email>thierry.fraichard@inria.fr</email><idno type="halAuthorId">80638</idno><orgName ref="#struct-300009"></orgName><affiliation ref="#struct-44462"></affiliation></author></analytic><monogr><meeting><title>IEEE International Conference on Robotics and Automation - ICRA 2010</title><date type="start">2010-05-03</date><date type="end">2010-05-07</date><settlement>Anchorage, AK</settlement><country key="US">United States</country></meeting><imprint><publisher>IEEE</publisher><biblScope unit="pp">4022 - 4027</biblScope><date type="datePub">2010</date></imprint></monogr><idno type="doi">10.1109/ROBOT.2010.5509233</idno><ref type="publisher">http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5509233</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="fr">Motion safety</term><term xml:lang="fr">Collision avoidance</term><term xml:lang="fr">Uncertainty</term><term xml:lang="fr">Dynamic Environments</term><term xml:lang="fr">Inevitable Collision States</term></keywords><classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">For its own safety, a robot system should never find itself in a state where there is no feasible trajectory to avoid collision with an obstacle. Such a state is an Inevitable Collision State (ICS). The ICS concept is particularly useful for navigation in dynamic environments because it takes into account the future behaviour of the moving objects. Accordingly it requires a model of the future evolution of the environment. In the real-world, the future trajectories of the obstacles are generally unknown and only estimates are available. This paper introduces a probabilistic formulation of the ICS concept which incorporates uncertainty in the model of the future trajectories of the obstacles. It also presents two novel probabilistic ICSchecking algorithms that are compared with their deterministic counterpart.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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