Efficient algorithms for collision avoidance at intersections


We consider the problem of synthesising the least restrictive controller for collision avoidance of multiple vehicles at an intersection. The largest set of states for which there exists a control that avoids collisions is known as the maximal controlled invariant set. Exploiting results from the scheduling literature we prove that, for a general model of… (More)
DOI: 10.1145/2185632.2185656


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