Design and evaluation of a reactive and deliberative collision avoidance and escape architecture for autonomous robots

Evans, Jonathan; Patrón, Pedro; Smith, Ben; Lane, David M.

doi:10.1007/s10514-007-9053-8

Cited by 26 publications

(17 citation statements)

References 31 publications

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“…Other developers have chosen to use algorithms designed to achieve collision avoidance by implementing emergency reactive behaviors [11]. The work by Evans uses a singleton fuzzier and Mamdani reasoning to generate outputs from combinations of if-then rules.…”

Section: Literature Review and Recent Researchmentioning

confidence: 99%

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

Woerner¹

2014

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High contact density environments are becoming ubiquitous in autonomous marine vehicle (AMV) operations. Safely managing these environments and their mission greatly taxes platforms. AMV collisions will likely increase as contact density increases. In situations where AMVs are not performing a collaborative mission but are using shared physical space such as multiple vehicles in the same harbor, a high demand exists for safe and e cient operation to minimize mission track deviations while preserving the safety and integrity of mission platforms. With no existing protocol for collision avoidance of AMVs, much e↵ort to date has focused on individual ad hoc collision avoidance approaches that are self-serving, lack the uniformity of fleet-distributed protocols, and disregard the overall fleet e ciency when scaled to being in a contact-dense environment. This research shows that by applying interval programming and a collision avoidance protocol such as the International Regulations for Prevention of Collisions at Sea (COLREGS) to a fleet of AMVs operating in the same geographic area, the fleet achieves nearly identical e ciency concurrent with significant reductions in the collisions observed. A basic collision avoidance protocol was analyzed against a COLREGS-based algorithm while parameters key to collision avoidance were studied using Monte Carlo methods and regression analysis of both real-world and simulated statistical data. A testing metric was proposed for declaring AMVs as "COLREGS-compliant" for at-sea operations. This work tested five AMVs simultaneously with COLREGS collision avoidance-the largest test known to date.

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Section: Literature Review and Recent Researchmentioning

confidence: 99%

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

Woerner¹

2014

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“…Comparisons are thus limited to computational metrics such as 'time to complete a task', 'number of path nodes explored', and 'lengths of paths' [41]. Attempts to provide methods for evaluating stopping distances have produced similar metrics.…”

Section: Mobile Robot Collision Metricsmentioning

confidence: 99%

A Cross-Domain Survey of Metrics for Modelling and Evaluating Collisions

Marvel

Bostelman

2014

International Journal of Advanced Robotic Systems

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This paper provides a brief survey of the metrics for measuring probability, degree, and severity of collisions as applied to autonomous and intelligent systems. Though not exhaustive, this survey evaluates the state-of-the-art of collision metrics, and assesses which are likely to aid in the establishment and support of autonomous system collision modelling. The survey includes metrics for 1) robot arms; 2) mobile robot platforms; 3) nonholonomic physical systems such as ground vehicles, aircraft, and naval vessels, and; 4) virtual and mathematical models.

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“…In particular, these authors were looking at collision avoidance for autonomous robots and escape as a subsumption 1 approach where the reactive layer still provides a fast emergency response [14]. Dabe et al [15] proposed a four level cycle consisting of: Perception; Situation Evaluation; Decision; Action.…”

Section: Review Of Mission Adaptive Systemsmentioning

confidence: 99%

“…AUV, the Hydroid REMUS-100 and the Remus 600, the Ocean Server Iver2 and the Ocean Explorer 21-in. [14][16] [24].…”

Section: Review Of Mission Adaptive Systemsmentioning

confidence: 99%

The Role of adaptive mission planning and control in persistent autonomous underwater vehicles presence

Brito

Bose

Lewis

et al. 2012

2012 IEEE/OES Autonomous Underwater Vehicles (AUV)

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Abstract-The Autonomous Underwater Vehicle (AUV) community has for many years recognized the potential benefits made by adapting mission planning on-the-fly. Over the years there has been some degree of success in applying adaptive mission planning to very specific problems. Examples of applications include capabilities for a vehicle to search for, and then modify its trajectory to follow, a feature such as a plume or a thermocline, or to modify its trajectory to avoid an obstacle, or to find and follow a feature such as a pipeline. Despite an evident increase in the number of applications, the use of adaptive mission planning is still in its infancy. There is no doubt that adaptive mission planning will play a pivotal role in future AUV persistent presence. So what is delaying this technology from making the leap towards wider industry acceptance? This paper reviews the literature in adaptive mission planning and uses a failure analysis technique to identify key obstacles for the integration of this technique in wider AUV applications. We use our failure analysis to help devise recommendations for mitigating these obstacles. The complexity of the mathematical approaches used by adaptive techniques is one key obstacle. Perhaps of more importance is that the AUV community is increasingly requiring quantitative assessment of risk associated with the use of AUVs. We propose that probability is the appropriate measure for quantifying the risk of adaptive systems and their uncertainty. The work here presented is a collective endeavor of the Engineering Committee on Oceanic Resources Specialist Panel on Underwater Vehicles.

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Design and evaluation of a reactive and deliberative collision avoidance and escape architecture for autonomous robots

Cited by 26 publications

References 31 publications

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

A Cross-Domain Survey of Metrics for Modelling and Evaluating Collisions

The Role of adaptive mission planning and control in persistent autonomous underwater vehicles presence

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