Safety assessment of robot trajectories for navigation in uncertain and dynamic environments

@article{Althoff2012SafetyAO,
  title={Safety assessment of robot trajectories for navigation in uncertain and dynamic environments},
  author={Daniel Althoff and James J. Kuffner and Dirk Wollherr and Martin Buss},
  journal={Auton. Robots},
  year={2012},
  volume={32},
  pages={285-302}
}
This paper presents a probabilistic framework for reasoning about the safety of robot trajectories in dynamic and uncertain environments with imperfect information about the future motion of surrounding objects. For safety assessment, the overall collision probability is used to rank candidate trajectories by considering the probability of colliding with known objects as well as the estimated collision probability beyond the planning horizon. In addition, we introduce a safety assessment cost… CONTINUE READING
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