Study of Inevitable Collision States, a Key Concept for Safe Robot
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Internship Description:
The design of a robotic system that can move safely in an environment
featuring moving objects whose future behaviour is unknown remains a
challenge. When it comes to collision avoidance, the concept of
Inevitable Collision States (ICS) is useful. An ICS is a state such that
no matter what the future trajectory of a robotic system is, it
eventually collides with an object. This concept is general and permits
to take into account the dynamics of both the robotic system and the
moving objects. Clearly, for its own safety, a robotic system should
never be in one of these ICS. The ICS concept was formally introduced in
[1] and later exploited in a number of applications.
The ICS concept has so far been used for planar robotic
systems, e.g. mobile robots, car-like vehicles. The primary
purpose of this internship is to further the theoretical analysis of
the ICS concept and to explore whether it could be applied to
three-dimensional systems.
References:
[1] Th. Fraichard and H. Asama. Inevitable collision states. a step
towards safer robots? Advanced Robotics, 18(10),
2004. http://emotion.inrialpes.fr/fraichard/publications.
As a general rule, I am looking for highly motivated candidates with a good
educational record, the ability to think independently and work
autonomously. If you are interested in this internship, please send me a
complete Curriculum Vitae (featuring your academic background with the
courses attended, the grades and the rankings obtained - very important),
plus any additional information you might find useful.
