A Cross-Domain Survey of Metrics for Modelling and Evaluating Collisions. (5th September 2014)

• Record Type: Journal Article
• Authors: Marvel, Jeremy A.; Bostelman, Roger
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 9(2014)
• Publication Date: 2014-09-05
• Subjects: Collision Metrics -- Collision Modelling -- Robot Collisions -- Mobile Robot Collisions -- Vehicular Collisions; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58846
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper provides a brief survey of the metrics for measuring probability, degree, and severity of collisions as applied to autonomous and intelligent systems. Though not exhaustive, this survey evaluates the state-of-the-art of collision metrics, and assesses which are likely to aid in the establishment and support of autonomous system collision modelling. The survey includes metrics for 1) robot arms; 2) mobile robot platforms; 3) nonholonomic physical systems such as ground vehicles, aircraft, and naval vessels, and; 4) virtual and mathematical models.