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Closed-form controlled invariant sets for pedestrian avoidance

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/ACC.2017.7963185DOIArticle
http://ieeexplore.ieee.org/document/7963185/PublisherArticle
ORCID:
AuthorORCID
Tabuada, Paulo0000-0002-3417-0951
Additional Information:© 2017 IEEE. This work was partially supported by the NSF CPS Frontiers project 1239085.
Funders:
Funding AgencyGrant Number
NSFCNS-1239085
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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