On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions

Karen Leung; Edward Schmerling; Mengxuan Zhang; Mo Chen; John Talbot; J. Christian Gerdes; Marco Pavone

doi:10.1177/0278364920950795

On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions

Karen Leung, Edward Schmerling, Mengxuan Zhang, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone

Research output: Contribution to journal › Article › peer-review

Original language	English
Pages (from-to)	1326-1345
Number of pages	20
Journal	International Journal of Robotics Research
Volume	39
Issue number	10-11
DOIs	https://doi.org/10.1177/0278364920950795
Publication status	Published - Sept 1 2020
Externally published	Yes

ASJC Scopus Subject Areas

Software
Modelling and Simulation
Mechanical Engineering
Electrical and Electronic Engineering
Artificial Intelligence
Applied Mathematics

Keywords

backward reachability analysis
human–robot interaction
Probabilistic planning
safety-preserving controller
vehicle model predictive control

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10.1177/0278364920950795

Cite this

@article{68330b38994a458d9640c66f8792902a,

title = "On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions",

keywords = "backward reachability analysis, human–robot interaction, Probabilistic planning, safety-preserving controller, vehicle model predictive control",

author = "Karen Leung and Edward Schmerling and Mengxuan Zhang and Mo Chen and John Talbot and Gerdes, {J. Christian} and Marco Pavone",

note = "Publisher Copyright: {\textcopyright} The Author(s) 2020.",

year = "2020",

month = sep,

day = "1",

doi = "10.1177/0278364920950795",

language = "English",

volume = "39",

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journal = "International Journal of Robotics Research",

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TY - JOUR

T1 - On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions

AU - Leung, Karen

AU - Schmerling, Edward

AU - Zhang, Mengxuan

AU - Chen, Mo

AU - Talbot, John

AU - Gerdes, J. Christian

AU - Pavone, Marco

N1 - Publisher Copyright: © The Author(s) 2020.

PY - 2020/9/1

Y1 - 2020/9/1

KW - backward reachability analysis

KW - human–robot interaction

KW - Probabilistic planning

KW - safety-preserving controller

KW - vehicle model predictive control

UR - http://www.scopus.com/inward/record.url?scp=85089856522&partnerID=8YFLogxK

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U2 - 10.1177/0278364920950795

DO - 10.1177/0278364920950795

M3 - Article

AN - SCOPUS:85089856522

SN - 0278-3649

VL - 39

SP - 1326

EP - 1345

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

IS - 10-11

ER -

On infusing reachability-based safety assurance within planning frameworks for human–robot vehicle interactions

ASJC Scopus Subject Areas

Keywords

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