IEEE - Institute of Electrical and Electronics Engineers, Inc. - Collision avoidance laws for objects with arbitrary shapes

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Vishwamithra Sunkara ; Animesh Chakravarthy
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 5,158 - 5,164
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799058
Regular:

In the collision avoidance problem, it is a common practice to approximate the shapes of the robots and obstacles by circles or spheres. However, such approximations can be overly conservative... View More

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