The integration of Unmanned Aerial Vehicles (UAVs) requires new methods to certify collision avoidance systems. This paper presents a safety clearance process for obstacle avoidance systems where worst case analysis is performed using optimization based approaches under all possible parameter variations. The clearance criterion for the UAV obstacle avoidance system is defined as the minimum dis...

A method to detect and manage collision situations of the concurrent operations made by two robot arms in a shared work space is presented. Two different strategies, collision avoidance and in-turns operation are considered. The operation of a dual-armed assembly robot is modeled using Petri nets. The model is then tested by the means of an animated virtual assembly system. By observing the ope...

A novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3D workspace. The approach computes repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path for a manipulator can then be obtained by locally adjusting the manipula...