Formal design of a provably safe robotic roundabout system
Name
Del Vecchio_Formal design.pdf
Size
1.42 MB
Format
Adobe PDF
Checksum (MD5)
36a6e5c250acf95b12ddcf1cd2d52ad9
Author(s)
Duperret, Jeffrey M.
Hafner, Michael R.
Del Vecchio, Domitilla
Date Issued
October 2010
Journal
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers
Citation
Duperret, J M, M R Hafner, and D Del Vecchio. “Formal Design of a Provably Safe Robotic Roundabout System.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 18-22, 2010, Taipei, Taiwan, IEEE, 2010. 2006–2011. CrossRef. Web.
Version
Final published version
Abstract
In this paper, we show how to design a provably safe robotic roundabout system comprised of three vehicles. This is accomplished by combining two-vehicle collision avoidance primitives, which are each computationally light given the natural partial order structure on which the system evolves. We show how to design the system parameters in order to prevent conflicts among the control primitives, and to thus ensure the safety and liveness of the system as a whole. We implement our design on a multi-vehicle test-bed involving three vehicles continuously running on three intersecting roundabouts, and provide experimental results demonstrating the system is collision free and live.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5649789
