@inproceedings{c7edc5c7df42458d881bf5cfda497e87,
title = "Avoiding multiple collisions through trajectory replanning using piecewise B{\'e}zier curves",
abstract = "This paper presents a collision prediction and avoidance algorithm based on piecewise B{\'e}zier curves. Upon detection of an obstacle, the algorithm checks for a possible collision and modifies the vehicle's planned trajectory, if needed. Under mild assumptions, the replanned trajectory is guaranteed to avoid the collision and satisfy mission-specific constraints. The bounds on changes in position, velocity and acceleration caused by trajectory replanning are computable a priori. These bounds can be used during the mission-planning phase to guarantee satisfaction of vehicle dynamic constraints by the replanned trajectory. The algorithm presented here can be used to avoid multiple collisions under weaker assumptions as compared to previous results.",
author = "Mehdi, {Syed Bilal} and Ronald Choe and Naira Hovakimyan",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7402633",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2755--2760",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
note = "54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
}