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....Reciprocal n-body Collision Avoidance 3 2 Previous Work The problem of collision avoidance has been extensively studied. Many approaches assume the observed obstacles to be static (i.e. non-moving) =-=[2, 4, 6, 7, 13, 14, 23]-=-, and compute an immediate action for the robot that would avert collisions with the obstacle, in many cases taking into account the robot’s kinematics and dynamics. If the obstacles are also moving, ...

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...s. This is an important consideration when replanning for real vehicles as a collision-free trajectory may bring the system close to an obstacle with high-velocity and no maneuver to avoid collisions =-=[4]-=-, [5]. For replanning applications, the computational performance of the planner is of primary importance. A slow planner delays taking into account new sensing information and the vehicle does not re...

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...n dynamic environments? It turns out that most (if not all) collision avoidance schemes are not safe when used in dynamic environments (§III). The concept of Inevitable Collision States introduced in =-=[2]-=- is then called upon as an answer to the safety issue. An Inevitable Collision States (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collisio...

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...account the dynamic information of the environment, considering all the obstacles as static ones. On the other side, the Velocity Obstacles approach [9], [10], the Inevitable Collision States concept =-=[11]-=- and [12] use a deterministic knowledge about the velocity of the obstacles to compute collision-free controls. All the cited Fulgenzi Chiara is supported by a grant from the European Community under ...

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...vious trajectory becomes the root of the new exploring tree. The planning algorithm works in parallel with execution. Each node of the tree is guaranteed to be not an Inevitable Collision State (ICS, =-=[22]-=-) by checking if it exists a collision free braking trajectory from the node. This is a conservative approximation that doesn’t allow the robot to pass an intersection before an approaching moving obs...

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...been defined in different ways in the literature, but a simple and generic description defines as safe a plan where the robot never finds itself in what is called an Inevitable Collision State or ICS =-=[FA03]-=-. Being in ICS means that due to dynamic constraints, the robot will collide with an obstacle in the future no matter what controls are applied from that state on. One recent paper that incorporates m...

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...Abstract— An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs =-=[1]-=-. The ICS concept takes into account both the dynamics of the robotic system and the future motion of the moving objects of the environment. For obvious safety reasons, a robotic system should never e...

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...static. Existing approaches that do treat them as moving often require perfect information about their trajectories [5], [6] or assume they will continue along their current heading and velocity [7], =-=[8]-=-, [9]. However, in practice none of these scenarios are realistic: it is unlikely we will have accurate information from another vehicle as to its future trajectory, nor in general will it just contin...

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...e space of the system R and to extract from this tree a partial motion π that is used during the next time cycle to drive the system towards its goal. The concept of Inevitable Collision State (ICS)4 =-=[14]-=- and the motion safety criteria introduced in [3] show that it does not suffice that each partial motion π be collision-free to ensure the safety of R. From a theoretical point of view, the safety of ...