{"id":"W3211351269","doi":"10.1109/isrimt53730.2021.9596826","title":"Voronoi-based Multi-robot Collision Avoidance with Localization Uncertainty","year":2021,"lang":"en","type":"article","venue":"","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"McMaster University","funders":"","keywords":"Collision avoidance; Robot; Deadlock; Voronoi diagram; Collision; Computer science; Scheme (mathematics); Real-time computing; Mobile robot; Deadlock prevention algorithms; Artificial intelligence; Distributed computing; Simulation; Computer security; Mathematics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0004210786,0.0003477787,0.0006497998,0.000691676,0.0005612971,0.0005372316,0.001318208,0.0003666526,0.0008586371],"category_scores_gemma":[0.001397411,0.0002981199,0.0003819761,0.0006240886,0.0005251719,0.0008707208,0.001423053,0.0003176617,0.0001635815],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000514202,"about_ca_system_score_gemma":0.0008978649,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003694197,"about_ca_topic_score_gemma":0.003587369,"domain_scores_codex":[0.9996774,0.00008781041,0.00001674086,0.00006370366,0.0001125887,0.00004182232],"domain_scores_gemma":[0.9994573,0.0002554178,0.00006146786,0.00005491211,0.0001086329,0.00006225402],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0002183756,0.00004378919,0.001637385,0.0001504459,0.00005386404,0.0002511835,0.0003300293,0.8285524,0.01314633,0.04873544,0.0009255094,0.1059554],"study_design_scores_gemma":[0.00002134342,0.0000450174,0.0001271806,0.000006280834,0.000009482131,0.0000600048,0.00003623168,0.9841309,0.002455472,0.01157067,0.001527303,0.00001009962],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.02200411,0.0001922933,0.9765185,0.00004614484,0.00002183545,0.00003126872,0.0000199836,0.0001786902,0.000987187],"genre_scores_gemma":[0.7817818,0.0001957057,0.2162963,0.00003458258,0.00001284235,0.00008765866,0.00006934,0.00003837914,0.001483404],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003694197,"threshold_uncertainty_score":0.007345378,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02034368310232552,"score_gpt":0.2489500448445441,"score_spread":0.2286063617422185,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}