A Robust Receding-Horizon Collision Avoidance Strategy for Constrained Unmanned Ground Vehicles Moving in Shared Planar Environments
Why this work is in the frame
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Bibliographic record
Abstract
This paper deals with the reference tracking and collision avoidance control problems for constrained unmanned ground vehicles moving in shared planar environments. The proposed solution improves the strategy developed in [1] by minimizing the number of vehicle’s full stops required to avoid collisions. This is achieved through a modified traffic manager algorithm that can exploit, in a receding horizon fashion, a preview of the successive vehicle’s waypoints. Such information is properly used to speed up or speed down the vehicles and minimize the chances of future collisions and vehicle’s full stops. The proposed control solutions enjoys recursive feasibility regardless of the waypoint prediction horizon.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it