Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments

Understand

As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings.

• Unfortunately, due to the possible presence of malicious dynamic actors, it is infeasible to develop an algorithm that can guarantee collision-free operation.
• Instead, one can attempt to design a control technique that guarantees the robot is not-at-fault in any collision.
• In the literature, making such guarantees in real time has been restricted to static environments or specific dynamic models.