The Colliding Reciprocal Dance Problem: A Mitigation Strategy with Application to Automotive Active Safety Systems
This addresses a safety issue in autonomous systems like vehicles, but appears incremental as it focuses on a specific variant of an existing problem.
The paper tackles the colliding reciprocal dance problem, where two mobile agents with incompatible interaction models cause collisions due to inertial constraints, and proposes a mitigation strategy that improves safety without sacrificing flexibility, demonstrated in automotive active safety systems.
A reciprocal dance occurs when two mobile agents attempt to pass each other but incompatible interaction models result in repeated attempts to take mutually blocking actions. Often, such a situation simply results in deadlock. But in systems with significant inertial constraints, it can result in collision. This abstract presents this colliding variant of the reciprocal dance, how it arises, and a mitigation strategy that can improve safety without sacrificing flexibility. A demonstration of the concept is provided in the context of automotive active safety.