1. Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns
- Author
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Kouskoulas, Yanni, Machado, T. J., Genin, Daniel, Schmidt, Aurora, Papusha, Ivan, and Brulé, Joshua
- Subjects
Computer Science - Logic in Computer Science ,Computer Science - Robotics ,Mathematics - Optimization and Control ,F.4.1 ,I.2.3 ,I.2.8 - Abstract
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur., Comment: Coq proofs are at https://bitbucket.org/ykouskoulas/ottb-foundation-proofs; Accepted 08 Mar 2022 (International Journal on Software Tools for Technology Transfer)
- Published
- 2022
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