Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns
Yanni Kouskoulas,
T. J. Machado,
Daniel Genin
et al.
Abstract:We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities tha… Show more
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