Deconfliction of motion paths with traffic inspired rules

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Deconfliction of motion paths with traffic inspired rules

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Celi, Federico / Wang, Li / Pallottino, Lucia / Egerstedt, Magnus

In this letter, we investigate how to resolve conflicting motions for mixed robot-robot and human-robot multiagent systems. This letter is motivated by atypical driving conditions, such as parking lots, where driving rules are not as strictly enforced as on standard roads. As a result, navigation algorithms should take into account the human drivers' behaviors, especially if they prove to be in conflict with the common rules of the road. In this letter, we make use of safety barrier certificates with a direction bias to deconflict agents' behavior in a near-to-collision scenario, in compliance with local traffic rules. We also propose a tool to identify the driving direction bias - both for human and autonomous agents.

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Title :

Deconfliction of motion paths with traffic inspired rules

Contributors:

Celi, Federico (author) / Wang, Li (author) / Pallottino, Lucia (author) / Egerstedt, Magnus (author) / Celi, Federico / Wang, Li / Pallottino, Lucia / Egerstedt, Magnus

Publication date :

2019-01-01

DOI :

https://doi.org/10.1109/LRA.2019.2899932

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

Collision Avoidance , Multi-Robot System , Physical Human-Robot Interaction , Control and Systems Engineering , Human-Computer Interaction , Biomedical Engineering , Mechanical Engineering , Control and Optimization , Artificial Intelligence , Computer Science Applications1707 Computer Vision and Pattern Recognition , 1707