Related papers: A Method for Calculating Collision Probability Bet…
A natural way to improve the detection of objects is to consider the contextual constraints imposed by the detection of additional objects in a given scene. In this work, we exploit the spatial relations between objects in order to improve…
This paper discusses improvements to the numerical robustness of the algorithm described in Kasper Fauerby's "Improved Collision Detection and Response." The algorithm addresses a common collision detection query: a moving sphere or…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
We propose a method to organize experimental data from particle collision experiments in a general format which can enable a simple visualisation and effective classification of collision data using machine learning techniques. The method…
Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be…
Previously a compact formula for total reaction cross section for heavy-ion collisions as a function of energy was obtained by treating the angular momentum $l$ as a continuous variable. The accuracy of the continuum approximation is…
This work presents an indigenous web based platform Orbital Collision (OrCo), created by the Space Systems Laboratory at IIIT Delhi, to enhance Space Situational Awareness (SSA) by predicting collision probabilities of space objects using…
For problems in astrophysics, planetary science and beyond, numerical simulations are often limited to simulating fewer particles than in the real system. To model collisions, the simulated particles (aka superparticles) need to be inflated…
We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
The traditional way of estimating the gravitational field from observed motions of test objects is based on the virial relation between their kinetic and potential energy. We find a more efficient method. It is based on the natural…
Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
Here, we present results on the intrinsic collision probabilities, $ P_I$, and range of collision speeds, $V_I$, as a function of the heliocentric distance, $r$, in the trans-Neptunian region. The collision speed is one of the parameters,…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Space is becoming more crowded in Low Earth Orbit due to increased space activity. Such a dense space environment increases the risk of collisions between space objects endangering the whole space population. Therefore, the need to consider…
Satellite conjunction analysis is the assessment of collision risk during a close encounter between a satellite and another object in orbit. A counterintuitive phenomenon has emerged in the conjunction analysis literature, namely,…