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We present a method for motion planning in the presence of moving obstacles that is aimed at dynamic on-road driving scenarios. Planning is performed within a geometric graph that is established by sampling deterministically from a manifold that is obtained by combining configuration space and time. We show that these graphs are acyclic and shortest path algorithms with linear runtime can be employed...
Unmanned aerial vehicles (UAVs) have shown promise in recent years for autonomous sensing. UAVs systems have been proposed for a wide range of applications such as mapping, surveillance, search, and tracking operations. The recent availability of low-cost UAVs suggests the use of teams of vehicles to perform sensing tasks. To leverage the capabilities of a team of vehicles, efficient methods of decentralized...
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the robot uses its on board sensors to evolve in an environment populated with static and moving obstacles. The sensors can only provide a partial and uncertain knowledge of the surroundings. We show that...
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