h f t p : / h w . in rialpes. fr/sharp/peopldJraichad AbslmcI-An inevirable coIliswn stale for a robotic system can be defined as a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually wcnrs. An inevitable collision state takes into accouiit both the dynamics of the system and the obstacles, b e d or moving. The main contribution of this paper is to lay down and explore this novel concept (and the companion concept of inevikzbk coIlision obstacle). Formal definitions of the inevitable collision states and obstacles are given. Properties fundamental for their characterisation are establihed. This concept is very general and can he useful both for navigation and motion planning purposes (for its own safety, a robotic system should never find itself in an inevitable collision state!). The interest of this concept is illustrated by a safe motion planning example.
To formally verify safety in motion planning, the concept of Inevitable Collision State (ICS) was introducted in REF .
Inevitable collision states. A step towards safer robots?
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Computer Science