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000228279 005__ 20190317000720.0
000228279 037__ $$aCONF
000228279 245__ $$aCollision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach
000228279 269__ $$a2017
000228279 260__ $$c2017
000228279 336__ $$aConference Papers
000228279 520__ $$aCollision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as human-robot interaction, automotive or unmanned aerial vehicles. While many collision avoidance algorithms take into account actuation constraints, only a few consider sensing limitations. In this paper, we present a reciprocal collision avoidance algorithm based on the velocity obstacle approach that guarantees collision-free maneuvers even when the robots are only capable to sense their environment within a limited Field Of View (FOV). We also present the challenges associated to sensors with limited FOV, show the conditions under which maneuvering can be safely done, and the modifications that a velocity obstacle approach requires to satisfy such conditions. We provide simulations and real robot experiments to validate our approach.
000228279 700__ $$0246514$$aRoelofsen, Steven Adriaan$$g178296
000228279 700__ $$0241784$$aGillet, Denis$$g105245
000228279 700__ $$0241071$$aMartinoli, Alcherio$$g105782
000228279 7112_ $$aIEEE International Conference on Robotics and Automation$$cSingapore$$dMay 29 to June 3, 2017
000228279 8564_ $$s9964687$$uhttps://infoscience.epfl.ch/record/228279/files/ICRA17_1039_VI_fi.mp4$$yMovie illustrating the simulations and experiments of the paper.$$zMovie illustrating the simulations and experiments of the paper.
000228279 8564_ $$s970082$$uhttps://infoscience.epfl.ch/record/228279/files/ICRA_2017.pdf$$yPreprint$$zPreprint
000228279 909C0 $$0252406$$pREACT$$xUS09295
000228279 909C0 $$0252151$$pDISAL$$xU11904
000228279 909CO $$ooai:infoscience.tind.io:228279$$pconf$$pSTI$$pENAC$$qGLOBAL_SET
000228279 917Z8 $$x178296
000228279 937__ $$aEPFL-CONF-228279
000228279 973__ $$aEPFL$$rREVIEWED$$sACCEPTED
000228279 980__ $$aCONF