Research paper
Between-sample safety · Reachability control for ground robots
Offline reachability determines piecewise-constant inputs that preserve safety throughout each sampling interval. Online table lookup supports obstacle avoidance, demonstrated with Pioneer ground robots.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A practical reachability-based collision avoidance algorithm for sampled-data systems: Application to ground robots
- Publisher
- IEEE
- Authors
- Charles Dabadie, Shahab Kaynama, Claire J. Tomlin
- DOI
- 10.1109/iros.2014.6943149
- Publication date
- 2014-09
- Source language
- en
- Edition
- 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2014-09; DOI 10.1109/iros.2014.6943149
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Offline reachability determines piecewise-constant inputs that preserve safety throughout each sampling interval. Online table lookup supports obstacle avoidance, demonstrated with Pioneer ground robots.
Use and review
Primary abstract and bibliography checked. State measurement, sampling, actuation and obstacle bounds require system-specific confirmation.
Sources & editions
A practical reachability-based collision avoidance algorithm for sampled-data systems: Application to ground robots ↗
IEEE · 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2014-09; DOI 10.1109/iros.2014.6943149
IROS2014 IEEE abstract https://ieeexplore.ieee.org/abstract/document/6943149 and author paper https://people.ece.ubc.ca/~kaynama/papers/iros2014.pdf.