Research paper
Priority planning · Treating prior vehicles as moving constraints
Higher-priority trajectories become time-varying obstacles for lower-priority vehicles. A double-obstacle HJI formulation computes reach-avoid sets, departure timing and controls while reducing multi-vehicle planning complexity.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safe sequential path planning of multi-vehicle systems via double-obstacle Hamilton-Jacobi-Isaacs variational inequality
- Publisher
- IEEE
- Authors
- Mo Chen, Jaime F. Fisac, Shankar Sastry, Claire J. Tomlin
- DOI
- 10.1109/ecc.2015.7331044
- Publication date
- 2015-07
- Source language
- en
- Edition
- 2015 European Control Conference (ECC); 2015-07; DOI 10.1109/ecc.2015.7331044
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Higher-priority trajectories become time-varying obstacles for lower-priority vehicles. A double-obstacle HJI formulation computes reach-avoid sets, departure timing and controls while reducing multi-vehicle planning complexity.
Use and review
Author abstract and bibliography checked. Results depend on priority, model and timing assumptions; physical tracking errors and faults require separate validation.
Sources & editions
Safe sequential path planning of multi-vehicle systems via double-obstacle Hamilton-Jacobi-Isaacs variational inequality ↗
IEEE · 2015 European Control Conference (ECC); 2015-07; DOI 10.1109/ecc.2015.7331044
ECC2015 bibliography; author abstract https://arxiv.org/abs/1412.7223.