A Cross-domain Survey of Metrics for Modelling and Evaluating Collisions

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.