包络线和波浪：多车水平非确定性转弯的安全避碰
Envelopes and Waves: Safe Multivehicle Collision Avoidance for Horizontal Non-deterministic Turns
摘要：
我们提出了一种方法来分析两个车辆的异步，独立的，非确定性的，转向轴承水平机动的安全性。未来的转弯速率、最终方位和整个遭遇过程中不断变化的地面速度都是未知的，但仅限于已知的范围。我们开发了一个关于车削运动学的正式证明库，并应用该库创建一个正式验证的定时计算。此外，我们创建了一个技术，评估未来的碰撞的可能性，是基于波的位置的可能性，并依赖于定时计算。结果要么确定相遇将是无碰撞的，要么计算碰撞可能发生的时间和地点的安全过度近似。
英文摘要：
We present an approach to analyzing the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics, and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
