Provably safe navigation for mobile robots with limited field-of-views in dynamic environments |
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Authors: | Sara Bouraine Thierry Fraichard Hassen Salhi |
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Affiliation: | (1) CDTA, Algiers, Algeria;(2) INRIA, CNRS-LIG and Grenoble University, Grenoble, France;(3) Blida University, Blida, Algeria |
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Abstract: | This paper addresses the problem of navigating in a provably safe manner a mobile robot with a limited field-of-view placed
in a unknown dynamic environment. In such a situation, absolute motion safety (in the sense that no collision will ever take
place whatever happens in the environment) is impossible to guarantee in general. 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. |
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