IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Formal Safety Net for Waypoint-Following in Ground Robots

Author(s): Brandon Bohrer ; Yong Kiam Tan ; Stefan Mitsch ; Andrew Sogokon ; Andre Platzer
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,910 - 2,917
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2923099
Regular:

We present a reusable formally verified safety net that provides end-to-end safety and liveness guarantees for two-dimensional waypoint-following of Dubins-type ground robots with tolerances and... View More

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