Abstract:
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning.
The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different application scenarios and leading to different computational approaches.
A basic element shared by most frameworks is the definition and evaluation of the probability of collision for a mobile object in an environment with obstacles.
We observe that, even in basic cases, different interpretations are possible.
This article proposes an index we call “Risk Density,” which offers a theoretical link between conceptually distant assumptions about the interplay of single collision events along a continuous path.
We show how this index can be used to approximate the collision probability in the case where the robot evolves along a nominal continuous curve from random initial conditions.
Indeed, under this hypothesis the proposed approximation outperforms some well-established methods either in accuracy or computational cost.
Published:
18 September 2024
RAISE Affiliate:
Spoke 4
Name of the Journal:
IEEE Transcations on Robotics
Publication type:
Contribution in journal
DOI:
