Provably safe navigation for mobile robots with limited field-of-views in unknown dynamic environments

@article{Bouraine2012ProvablySN,
  title={Provably safe navigation for mobile robots with limited field-of-views in unknown dynamic environments},
  author={Sara Bouraine and Thierry Fraichard and Hassen Salhi},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={174-179}
}
This paper addresses the problem of navigating a mobile robot with a limited field-of-view in a unknown dynamic environment. In such a situation, absolute motion safety, i.e. such that no collision will ever take place whatever happens, is impossible to guarantee. It is therefore settled for a weaker level of motion safety dubbed passive motion safety: it guarantees that, if a collision takes place, the robot will be at rest. Passive motion safety is tackled using a variant of the Inevitable… CONTINUE READING

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