Robotics: Science and Systems XIII

Uncertainty Models for TTC-Based Collision-Avoidance

Zahra Forootaninia, Ioannis Karamouzas, Rahul Narain


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 interacting 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.



    AUTHOR    = {Zahra Forootaninia AND Ioannis Karamouzas AND Rahul Narain}, 
    TITLE     = {Uncertainty Models for TTC-Based Collision-Avoidance}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2017}, 
    ADDRESS   = {Cambridge, Massachusetts}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2017.XIII.002}