Luis Martinez-Gomez

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— This paper presents ICS-AVOID, a collision avoidance scheme based upon the concept of Inevitable Collision State (ICS), ie a state for which, no matter what the future trajectory of the robotic system is, a collision eventually occurs. By design, ICS-AVOID can handle dynamic environments since ICS do take into account the future behaviour of moving(More)
— An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory of the system is, a collision eventually occurs. ICS can be used for both motion planning (to reduce the search space) and reactive navigation (for obvious safety reasons, a robotic system should never ever move to an ICS). ICS are(More)
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