Collision avoidance control with sensing uncertainties

Erick J. Rodríguez-Seda, Dušan M. Stipanović, Mark W. Spong

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Sensing and localization mechanisms, employed by mobile robots for the detection of obstacles and other nearby agents, may inaccurately estimate the position of obstacles due to noise, delays, and interferences incurred during the detection process. Therefore, it is critical to design collision avoidance strategies that are robust to the presence of measurement errors. In this paper, we present a decentralized, cooperative collision avoidance strategy for a pair of agents considering bounded sensing uncertainties and acceleration constraints. The avoidance control can be appended to any other stable control law (i.e., main control objective) and is active only when the vehicle is close to the other agent. A numerical example is presented that validates the proposed avoidance strategy.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457700804
StatePublished - 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Collision avoidance control with sensing uncertainties'. Together they form a unique fingerprint.

Cite this