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Automatic worst-case search algorithms are developed based on optimization techniques, and illustrated by a Pioneer robot with a moving obstacle avoidance algorithm developed using the potential field method. The uncertainties in physical parameters, sensor measurements, and even the model structure of the robot are taken into account in the worst-case analysis. The minimum distance to a moving obstacle is considered as an objective function in automatic search process. It is demonstrated that a local nonlinear optimization method may not be adequate, and global optimization techniques are necessary to provide reliable worst-case analysis. The Monte Carlo simulation is carried out to demonstrate that the proposed automatic search methods provide a significant advantage over random sampling approaches.<\/jats:p>","DOI":"10.1017\/s0263574714000642","type":"journal-article","created":{"date-parts":[[2014,4,15]],"date-time":"2014-04-15T09:21:54Z","timestamp":1397553714000},"page":"807-827","source":"Crossref","is-referenced-by-count":7,"title":["Worst-case analysis of moving obstacle avoidance systems for unmanned vehicles"],"prefix":"10.1017","volume":"33","author":[{"given":"Sivaranjini","family":"Srikanthakumar","sequence":"first","affiliation":[]},{"given":"Wen-Hua","family":"Chen","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,4,15]]},"reference":[{"key":"S0263574714000642_ref7","first-page":"1140","volume-title":"IEEE International Conference on Robotics and Automation","author":"Fraichard","year":"2007"},{"key":"S0263574714000642_ref21","volume-title":"GUIDE 98-3\/SUPP. 1, Uncertainty of Measurement Part 3\/Supplement 1: Propagations of Distributions Using a Monte Carlo Method","year":"2008"},{"key":"S0263574714000642_ref5","unstructured":"J. K. Kuchar , \u201cSafety Analysis Methodology for Unmanned Aerial Vehicle (UAV) Collision Avoidance Systems,\u201d 6th USA\/Europe Seminar on Air Traffic Management Research and Development, Baltimore, MD (June, 2005) (MIT Lincoln Laboratory, Lexington, MA, United States Air Force, #F19628-00-C-0002)."},{"key":"S0263574714000642_ref20","volume-title":"DIRECT Optimization Algorithm User Guide","author":"Finkel","year":"2003"},{"key":"S0263574714000642_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/0-306-48332-7_93"},{"key":"S0263574714000642_ref6","first-page":"728","volume-title":"Proceedings of the IEEE Intelligent Vehicles Symposium","author":"Althoff","year":"2007"},{"key":"S0263574714000642_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s11590-007-0072-3"},{"key":"S0263574714000642_ref4","unstructured":"E. Masehian and D. Sedighizadeh , \u201cClassic and Heuristic Approaches in Robot Motion Planning \u2013 A Chronological Review,\u201d Proceedings of World Academy of Science, Engineering and Technology (Aug. 2007) pp. 101\u2013106."},{"key":"S0263574714000642_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/BF01581033"},{"key":"S0263574714000642_ref1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020564024509"},{"key":"S0263574714000642_ref11","first-page":"104","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Luca","year":"1994"},{"key":"S0263574714000642_ref15","unstructured":"W. M. 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Tahk , \u201cUAV Collision Avoidance Based on Geometric Approach,\u201d SICE Annual Conference, The University of Elctro-Communications, Tokyo, Japan (Aug. 2008) pp. 2122\u20132126.","DOI":"10.1109\/SICE.2008.4655013"},{"key":"S0263574714000642_ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-73719-3"},{"key":"S0263574714000642_ref19","volume-title":"Convergence Analysis of the Direct Algorithm","author":"Finkel","year":"2004"},{"key":"S0263574714000642_ref9","first-page":"3880","volume-title":"Proceedings of the 32nd Annual Conference on IEEE Industrial Electronics (IECON'06)","author":"De La Cruz","year":"2006"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000642","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,20]],"date-time":"2019-04-20T21:08:06Z","timestamp":1555794486000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000642\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,15]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2015,5]]}},"alternative-id":["S0263574714000642"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000642","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,4,15]]}}}