colav-unsafe-set 0.0.4

A Python library for generating unsafe sets utilising the Indices of Interest.

colav-unsafe-set

This package contains implementation of the custom risk assesment method for motion planners called unsafe set as defined in paper geometric motion planning in dynamic environments. The following is the high level equation which this package implements.

Show image of geometric unsafe set:

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Table of Contents

• Installation
• Structure
• Usage
• License

Installation

pip install colav-unsafe-set

risk assessment collision metrics summary

Case	v_rel_norm_sq	p_rel == [0, 0]	tcpa > 0	DCPA	TCPA
1.1 Identical position	< 1e-6	✅	–	NaN	inf
1.2 Stationary, offset	< 1e-6	❌	–	‖p_rel‖	‖p_rel‖ / ‖v1‖ (or inf)
2.1 Future CPA	≥ 1e-6	–	✅	‖p_rel + tcpa * v_rel‖	computed tcpa
2.2 CPA in past	≥ 1e-6	–	❌	NaN	NaN

Structure

Usage

When pkg is installed, Using it is simple imports are as follows.

License

colav-unsafe-set is distributed under the terms of the MIT license.