Uncertainty Models for TTC-Based Collision-Avoidance
Uncertainty Models for TTC-Based Collision-Avoidance
复制标题
基于 TTC 的碰撞避免的不确定性模型
DOI：
10.15607/rss.2017.xiii.002
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Rahul Narain
中科院分区：
文献类型：
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作者：
Zahra Forootaninia;Ioannis Karamouzas;Rahul Narain
- 我们解决的问题，不确定性意识的本地碰撞避免的时间碰撞的背景下，基于多个代理的导航。我们考虑两个具体的模型，它们解释了相互作用的代理未来轨迹的不确定性：一个保守地考虑所有可能的错误的各向同性模型，以及一个假设错误是朝向正面碰撞的对抗模型。我们比较了两种模型的实验通过一些模拟场景，并提供理论保证的避碰行为的代理。
—We address the problem of uncertainty-aware local collision avoidance within the context of time-to-collision based navigation of multiple agents. We consider two specific models that account for uncertainty in the future trajectories of inter-acting agents: an isotropic model which conservatively considers all possible errors, and an adversarial model that assumes the error is towards a head-on collision. We compare the two models experimentally via a number of simulation scenarios, and also provide theoretical guarantees about the collision avoidance behavior of the agents.