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dc.contributor.authorDuperret, Jeffrey M.
dc.contributor.authorHafner, Michael R.
dc.contributor.authorDel Vecchio, Domitilla
dc.date.accessioned2013-04-12T18:56:34Z
dc.date.available2013-04-12T18:56:34Z
dc.date.issued2010-10
dc.identifier.isbn978-1-4244-6676-4
dc.identifier.isbn978-1-4244-6674-0
dc.identifier.issn2153-0858
dc.identifier.otherINSPEC Accession Number: 11689512
dc.identifier.urihttp://hdl.handle.net/1721.1/78372
dc.description.abstractIn 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.en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (NSF-CAREER Award CNS-0642719)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (NSF-GOALI Award CMMI-0854907)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2010.5649789en_US
dc.rightsArticle 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.en_US
dc.sourceIEEEen_US
dc.titleFormal design of a provably safe robotic roundabout systemen_US
dc.typeArticleen_US
dc.identifier.citationDuperret, 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.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorDel Vecchio, Domitilla
dc.relation.journalProceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
dspace.orderedauthorsDuperret, J M; Hafner, M R; Del Vecchio, Den
dc.identifier.orcidhttps://orcid.org/0000-0001-6472-8576
mit.licensePUBLISHER_POLICYen_US


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