Partial order techniques for vehicle collision avoidance: application to an autonomous roundabout test-bed
Name
Desaraju-2009-Partial order techniques for vehicle collision avoidance.pdf
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Author(s)
Desaraju, Vishnu Rajeswar
Ro, H. C.
Yang, M.
Tay, E.
Roth, S.
Del Vecchio, Domitilla
Date Issued
July 2009
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Desaraju, V. et al. “Partial order techniques for vehicle collision avoidance: Application to an autonomous roundabout test-bed.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 82-87. © Copyright 2009 IEEE
Version
Final published version
Abstract
In this paper, we employ partial order techniques to develop linear complexity algorithms for guaranteed collision avoidance between vehicles at highway and roundabout mergings. These techniques can be employed by virtue of the rich structure offered by such traffic systems, which constrain vehicles to advance unidirectionally along a path. The algorithms are safe by construction while maintaining the liveness of the system. The proposed algorithms are on-line implemented in a decentralized fashion on an experimental testbed composed of two in-scale communicating vehicles continuously running on an autonomous roundabout system.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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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.
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DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152656
