Shoukry, Yasser and Tabuada, Paulo and Tsuei, Stephanie and Milam, Mark B. and Grizzle, Jessy W. and Ames, Aaron D. (2017) Closed-form controlled invariant sets for pedestrian avoidance. In: 2017 American Control Conference. IEEE , Piscataway, NJ, pp. 1622-1628. ISBN 978-1-5090-5992-8. http://resolver.caltech.edu/CaltechAUTHORS:20170705-161535923
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Abstract
The recent trends in the automotive industry towards autonomous vehicles bring the problem of pedestrian avoidance to the forefront of a long list of safety concerns. In this paper we propose a closed-form solution to this problem by explicitly computing closed-form expressions for subsets of the state space where an autonomous vehicle is guaranteed to avoid collisions with a pedestrian. These sets, being controlled invariant, immediately lead to control laws for pedestrian avoidance.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2017 IEEE. This work was partially supported by the NSF CPS Frontiers project 1239085. | |||||||||
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| Record Number: | CaltechAUTHORS:20170705-161535923 | |||||||||
| Persistent URL: | http://resolver.caltech.edu/CaltechAUTHORS:20170705-161535923 | |||||||||
| Official Citation: | Y. Shoukry, P. Tabuada, S. Tsuei, M. B. Milam, J. W. Grizzle and A. D. Ames, "Closed-form controlled invariant sets for pedestrian avoidance," 2017 American Control Conference (ACC), Seattle, WA, USA, 2017, pp. 1622-1628. doi: 10.23919/ACC.2017.7963185 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 78781 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Kristin Buxton | |||||||||
| Deposited On: | 06 Jul 2017 21:32 | |||||||||
| Last Modified: | 06 Jul 2017 21:32 |
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