论文标题
信封和波浪：避免水平非确定性转弯的安全多旋风碰撞
Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns
论文作者
论文摘要
我们提出了一种分析两辆车的异步，独立，非确定性，转弯的水平操作的方法。在整个相遇中，未来的转弯率，最终轴承以及不断变化的地面速度尚不清楚，但仅限于已知的范围。我们开发了有关转动运动学的正式证明库，并应用库以创建正式验证的定时计算。此外，我们创建了一种评估未来碰撞可能性的技术，该技术基于位置的可能性浪潮，并依赖于时序计算。结果要么确定遭遇将是无碰撞的，要么计算出可能发生碰撞的何时和何时遇到的安全过度应用。
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur.
