Collision Avoidance in Cooperative Missions: Bézier Surfaces for Circumnavigating Uncertain Speed Profiles

What is it about?

We present a Bézier surface based collision avoidance algorithm particularly suited for multi-vehicle cooperative missions. The algorithm is capable of considering uncertainties in the speed profiles of vehicles and, in the case of an imminent collision, is able to generate trajectories that are safe for the complete range of speed profiles considered.

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