Formal design of a provably safe robotic roundabout system
Author(s)Duperret, Jeffrey M.; Hafner, Michael R.; Del Vecchio, Domitilla
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 11689512