A new method to compute the probability of collision for short...

IntroductionComputing the probability of collision

Conclusion

A new method to compute the probability of collision for short-termspace encounters

R. Serra, D. Arzelier, M. Joldes, J-B. Lasserre, A. Rondepierre and B. Salvy

December, 2014

Conclusion

Fiction...

Credit Gravity (2013)

Conclusion

General ModelShort-term encounter probability of collision

On-orbit collision

Figure: Cerise hit by a debris in 1996 (source : CNES/D. Ducros)

2 / 26

Conclusion

On-orbit collision

Figure: Space debris population model (source : ESA)

3 / 26

Conclusion

On-orbit collision

Context

Two objects: primary P (operational satellite) and secondary S (space debris)

Information about their geometry, position, velocity at a given time Affected by uncertainty

Needs:Risk assessmentDesign of a collision avoidance strategy

compute the probability of collision

Classical assumptions

Spherical objects

Gaussian probability density functions

Independent probability distribution laws

Figure: Combined spherical object

Probability of collision

Generally: 12-dimensional, Gaussian integrand, Complex integration domain

Computation: Monte-Carlo trials and/or simplified models

4 / 26

Conclusion

On-orbit collision

Context

Spherical objects

Computation: Monte-Carlo trials and/or simplified models

4 / 26

Conclusion

On-orbit collision

Context

Spherical objects

Computation: Monte-Carlo trials and/or simplified models4 / 26

Conclusion

Short-term encounter model

Framework: High relative velocity

Assumptions:

Rectilinear relative motion

No velocity uncertainty

Infinite encounter time horizon

Encounter frame of reference

v = vs − vp

Figure: Encounter plane

5 / 26

Conclusion

Short-term encounter model and probability of collision

Probability of collision: bivariate normal law

2-D integral over a disk B(0, R).

2π√|Σxy |

∫B((0,0),R)

2[x− xm y] Σ−1

xy [x− xm y]T)

covariance matrix

Σxy =

[σ2x ρxyσxσy

ρxyσxσy σ2y

standard deviations of relativecoordinates σx, σy ∈ R+

correlation coefficient ρxy ∈ (−1, 1).

v = vs − vp

6 / 26

Conclusion

Probability of collision: bivariate normal law 2-D integral over a disk B(0, R).

2π√|Σxy |

∫B((0,0),R)

2[x− xm y] Σ−1

xy [x− xm y]T)

covariance matrix

Σxy =

[σ2x ρxyσxσy

ρxyσxσy σ2y

standard deviations of relativecoordinates σx, σy ∈ R+

correlation coefficient ρxy ∈ (−1, 1).

v = vs − vp

6 / 26

Conclusion

2πσxσy

∫B((0,0),R)

(x− xm)2

2σx2−

(y − ym)2

)dxdy,

combined xm

level sets

Figure: Rotation in encounter plane

R: radius of combined object

xm, ym: mean relative coordinates

σx, σy : standard deviations of relativecoordinates

7 / 26

Conclusion

2πσxσy

∫B((0,0),R)

(x− xm)2

2σx2−

(y − ym)2

)dxdy,

combined xm

level sets

Figure: Rotation in encounter plane

R: radius of combined object

xm, ym: mean relative coordinates

σx, σy : standard deviations of relativecoordinates

7 / 26

Conclusion

Existing methodsOur methodExamples

Existing methods

Methods based on numerical integration schemes:Foster ’92, Patera ’01, Alfano ’05.

Analytic methods: Chan ’97 uses some simplifying assumptions (˜σx = ˜σy)

provides truncation error bounds

Pro’s and Con’s

use truncated power series, but no rigorous proof about convergence rate

truncation orders fixed by trial and error and by comparing with other existing software:Approximately 60,000 test cases were used to evaluate the numerical expression [...] Thereference (”truth”) probability was computed with MATHCAD 11 [...] - Alfano’05

Fast and already used in practice

Our purpose

Give a ”simple”, ”analytic” formula, suitable for double-precision evaluationand effective error bounds.

8 / 26

Conclusion

Existing methods

Pro’s and Con’s

Our purpose

8 / 26

Conclusion

Existing methods

Pro’s and Con’s

Our purpose

8 / 26

Conclusion

Existing methods

Pro’s and Con’s

Our purpose

8 / 26

Conclusion

Existing methods

Analytic methods: Chan ’97 uses some simplifying assumptions (˜σx = ˜σy) provides truncation error bounds

Pro’s and Con’s

Our purpose

8 / 26

Conclusion

Our method - Underlying techniques

1 Laplace transform: Lasserre and Zeron, Solving a Class of Multivariate Integration Problems via Laplace Techniques, Applicationes Mathematicae, 2001.

2 D-finite functions Zeilberger, A holonomic systems approach to special functions identities. Journal of Computational and Applied Mathematics, 1990 Salvy, D-finiteness: Algorithms and applications. In Manuel Kauers, editor, ISSAC 2005

solution of linear differential equation with polynomial coefficients power series coefficients satisfy a linear recurrence relation with polynomial coefficients

Example:

f(x) = exp(x) =∞∑i=0

fnxn ↔ {f ′ − f = 0, f(0) = 1} ↔ {(n + 1)fn+1 = fn, f0 = 1}

cos, arccos, Airy functions, Bessel functions, ...

3 Finite-precision evaluation of power series prone to cancellation Gawronski, Muller, Reinhard, Reduced Cancellation in the Evaluation of Entire Functions and Applications to the Error Function, SIAMJournal on Numerical Analysis, 2007.

Chevillard, Mezzarobba, Multiple-Precision Evaluation of the Airy Ai Function with Reduced Cancellation, 21st IEEE SYMPOSIUM on

Computer Arithmetic, 2013

9 / 26

Conclusion

Example:

f(x) = exp(x) =

∞∑i=0

fnxn ↔ {f ′ − f = 0, f(0) = 1} ↔ {(n + 1)fn+1 = fn, f0 = 1}

9 / 26

Conclusion

Example:

f(x) = exp(x) =

∞∑i=0

fnxn ↔ {f ′ − f = 0, f(0) = 1} ↔ {(n + 1)fn+1 = fn, f0 = 1}

9 / 26

Conclusion

Example:

f(x) = exp(x) =

∞∑i=0

fnxn ↔ {f ′ − f = 0, f(0) = 1} ↔ {(n + 1)fn+1 = fn, f0 = 1}

9 / 26

Conclusion

Sketch of the proof - Laplace Transform

∀z ∈ R+ :

g(z) := P(√z) =

2πσxσy

∫B((0,0),

(x− xm)2

2σx2−

(y − ym)2

)dxdy, (1)

L(g)(t) =

∫ +∞

0g(z) exp(−tz)dz (2)

. . . =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2 + 1)(2tσy2 + 1)

L(g) is D-finite !

10 / 26

Conclusion

∀z ∈ R+ :

g(z) := P(√z) =

2πσxσy

∫B((0,0),

(x− xm)2

2σx2−

(y − ym)2

)dxdy, (1)

L(g)(t) =

∫ +∞

. . . =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2 + 1)(2tσy2 + 1)

L(g) is D-finite !

10 / 26

Conclusion

∀z ∈ R+ :

g(z) := P(√z) =

2πσxσy

∫B((0,0),

(x− xm)2

2σx2−

(y − ym)2

)dxdy, (1)

L(g)(t) =

∫ +∞

. . . =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2 + 1)(2tσy2 + 1)(3)

L(g) is D-finite !

10 / 26

Conclusion

∀z ∈ R+ :

g(z) := P(√z) =

2πσxσy

∫B((0,0),

(x− xm)2

2σx2−

(y − ym)2

)dxdy, (1)

L(g)(t) =

∫ +∞

. . . =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2 + 1)(2tσy2 + 1)(3)

L(g) is D-finite !

10 / 26

Conclusion

Sketch of the proof - Borel-Laplace

g(z) L(g)(t) =exp

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

entire function of exponential type

type σ = 12σ2y

sum prone to cancellation

L(g)(t) is:

D-finite

Finite radius of convergence 2σ2y

li satisfy a linear recurrence with polynomial coefficients. Compute everything with gfun

Laplace Transform

expansion at ∞

Borel Transform

11 / 26

Conclusion

g(z) L(g)(t) =exp

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

L(g)(t) is:

D-finite

Laplace Transform

expansion at ∞

Borel Transform

11 / 26

Conclusion

g(z) L(g)(t) =exp

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

L(g)(t) is:

D-finite

Laplace Transform

expansion at ∞

Borel Transform

11 / 26

Conclusion

g(z) L(g)(t) =exp

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

L(g)(t) is:

D-finite

Laplace Transform

expansion at ∞

Borel Transform

11 / 26

Conclusion

Cancellation in finite precision power series evaluation

Example: σx = 115, σy = 1.41, xm = 0.15, ym = 3.88,√z = 15

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

Values of∣∣∣ li225i+1

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

Lost Digits: dg(z) ' logmaxi

∣∣gizi∣∣|g(z)|

12 / 26

Conclusion

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

12 / 26

Conclusion

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

12 / 26

Conclusion

Example: exp(−x) =∞∑i=0

(−1)ixi

exp(−20) = 1−20 . . .+1.66 · 107−1.23 · 107+ . . .+1.19 · 10−8−3.45 · 10−9 . . .

Values of∣∣∣ (−1)i20i

∣∣∣, compared to exp(−20) ' 2.06 · 10−9:

BUT...

exp(−x) =1

exp(x)No cancellation!

13 / 26

Conclusion

(−1)ixi

exp(−20) = 1−20 . . .+1.66 · 107−1.23 · 107+ . . .+1.19 · 10−8−3.45 · 10−9 . . .

∣∣∣, compared to exp(−20) ' 2.06 · 10−9:

BUT...

exp(−x) =1

13 / 26

Conclusion

(−1)ixi

exp(−20) = 1−20 . . .+1.66 · 107−1.23 · 107+ . . .+1.19 · 10−8−3.45 · 10−9 . . .

∣∣∣, compared to exp(−20) ' 2.06 · 10−9:

BUT...

exp(−x) =1

13 / 26

Conclusion

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

g(z) =F (z)

G(z)No cancellation!

Gawronski, Muller, Reinhard (2007) Method:

Find F (z) and G(z) using ”complex analysistricks” indicator function.

14 / 26

Conclusion

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

g(z) =F (z)

14 / 26

Conclusion

g(z) =∞∑i=0

li(i+1)!

g(225) = 0.16 · 10−1 + 1.5 + 16.1−250 . . .+2.2 · 1019−2.6 · 1019− . . .+4.3−0.14− 0.60 . . .

(i+1)!

∣∣∣, compared to g(225) ' 0.1004:

g(z) =F (z)

14 / 26

Conclusion

GMR Method in a Nutshell

Lost Digits:

dg(reiθ) ' logmaxi|gi| ri∣∣g(reiθ)

∣∣' rρ(σ − h(θ))

g has order ρ and type σ:max|z|=r

|g(z)| ∼ exp (σrρ) for large r

indicator function h:∣∣g(reiθ)∣∣ ∼ exp (h(θ)r) for large r

Goal of GMR:

To efficiently evaluate g on a sector Sθ, find suitable G and F , s.t. g =F

G, and

σF − hF (θ) and σG − hG(θ) are minimized on Sθ.

15 / 26

Conclusion

GMR Method in a Nutshell

Lost Digits:

dg(reiθ) ' logmaxi|gi| ri∣∣g(reiθ)

∣∣' rρ(σ − h(θ))

g has order ρ and type σ:max|z|=r

|g(z)| ∼ exp (σrρ) for large r

indicator function h:∣∣g(reiθ)∣∣ ∼ exp (h(θ)r) for large r

Goal of GMR:

To efficiently evaluate g on a sector Sθ, find suitable G and F , s.t. g =F

G, and

σF − hF (θ) and σG − hG(θ) are minimized on Sθ.

15 / 26

Conclusion

Sketch of the proof - Borel-Laplace + GMR Method

g(z) =F (z)

G(z)L(g)(t) =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

indicator function:∣∣g(reiθ)∣∣ ∼ exp (h(θ)r) for large r

k(θ) = supz∈K{<(ze−iθ)}, θ ∈ [0, 2π]

Polya’s Theorem: h(θ) = k(−θ)

h(θ) =

{− cos θ2σy2 if θ ∈ [π

2, 3π

0 if θ ∈ [0, π2

) ∪ ( 3π2, 2π].

Laplace

expansion at ∞

Borel Transform

16 / 26

Conclusion

g(z) =F (z)

G(z)L(g)(t) =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

k(θ) = supz∈K{<(ze−iθ)}, θ ∈ [0, 2π]

h(θ) =

2, 3π

0 if θ ∈ [0, π2

) ∪ ( 3π2, 2π].

Laplace

expansion at ∞

Borel Transform

16 / 26

Conclusion

g(z) =F (z)

G(z)L(g)(t) =

(−σx

2ym2+σy

2σx2σy2 + ym2

2σy2(2tσy2+1)+ xm

2σx2(2tσx2+1)

(2tσx2+1)(2tσy2+1)

g(z) =∞∑i=0

li(i+1)!

zi+1 L(g)(t) := t2L(g)(1t

)=∞∑i=0

g(z) is:

D-finite

type σ = 12σ2y

k(θ) = supz∈K{<(ze−iθ)}, θ ∈ [0, 2π]

h(θ) =

2, 3π

0 if θ ∈ [0, π2

) ∪ ( 3π2, 2π].

Laplace

expansion at ∞

Borel Transform

16 / 26

Conclusion

Zoom on Indicator functions

g(z) =F (z)

G(z)∣∣g(reiθ)∣∣ ∼ exp (h(θ)r) for large r

indicator of g:

h(θ) =

2, 3π

0 otherwise.

lost precision ∼ |σ − h(0)|

G(z) = exp(σz)indicator of G:

indicator of F :

17 / 26

Conclusion

g(z) =F (z)

indicator of g:

h(θ) =

2, 3π

0 otherwise.

indicator of F :

17 / 26

Conclusion

g(z) =F (z)

indicator of g:

h(θ) =

2, 3π

0 otherwise.

indicator of F :

17 / 26

Conclusion

G(z)g(z) = F (z)∣∣g(reiθ)∣∣ ∼ exp (h(θ)r) for large r

indicator of g:

h(θ) =

2, 3π

0 otherwise.

indicator of F :

17 / 26

Conclusion

G(z)g(z) = F (z) L(g)(t− σ)

G(z)g(z) =∞∑k=0

αk(k+1)!

zk+1∞∑k=0

αk(1t

G(z) = exp(σz)

F is D-finite

reduced cancellation for evaluating F,G on positive real line

recurrence for αk:

− (32kσ4xσ

10y + 128σ

10y )αk+4 = (σ

2m − 2σ

2m + σ

2m)αk

+((−4σ4xσ

4y + 8σ

6y − 4σ

8y)k − 10σ

4y − 6σ

2m + 20σ

6y + 8σ

2m − 10σ

8y − 2σ

2m)αk+1

+((24σ4xσ

6y − 32σ

8y + 8σ

10y )k + 72σ

6y + 12σ

2m − 92σ

8y − 8σ

2m + 20σ

10y + 4σ

2m)αk+2

+((−48σ4xσ

8y + 32σ

10y )k − 168σ

8y − 8σ

2m + 104σ

10y − 8σ

2m)αk+3,

Laplace

expansion at ∞

Borel Transform

18 / 26

Conclusion

G(z)g(z) = F (z) L(g)(t− σ)

G(z)g(z) =∞∑k=0

αk(k+1)!

zk+1∞∑k=0

αk(1t

G(z) = exp(σz)

F is D-finite

reduced cancellation for evaluating F,G on positive real line

recurrence for αk:

− (32kσ4xσ

10y + 128σ

10y )αk+4 = (σ

2m − 2σ

2m + σ

2m)αk

+((−4σ4xσ

4y + 8σ

6y − 4σ

8y)k − 10σ

4y − 6σ

2m + 20σ

6y + 8σ

2m − 10σ

8y − 2σ

2m)αk+1

+((24σ4xσ

6y − 32σ

8y + 8σ

10y )k + 72σ

6y + 12σ

2m − 92σ

8y − 8σ

2m + 20σ

10y + 4σ

2m)αk+2

+((−48σ4xσ

8y + 32σ

10y )k − 168σ

8y − 8σ

2m + 104σ

10y − 8σ

2m)αk+3,

Laplace

expansion at ∞

Borel Transform

18 / 26

Conclusion

Prop. Coefficients αk are positive

Suppose σx > σy .

L(x) =∞∑k=0

αkxk satisfies L′(x) = F (x)L(x), L(0) =

(−σ2xy

2m + σ2

2σ2xσ

)2σxσy

, where

F (x) =ym2

4σy4+

σy4xm2

(x (σx2 − σy2)− 2σx2σy2)2−

−2σy2 + x

+−σx2 + σy2

2x (σx2 − σy2)− 4σx2σy2.

fk =1 +

)k ((k + 1)

(x2mσ

)+ 1−

(2σ2y)k+1

0, k > 0

, k = 0,

0 ≤ (n+ 1)αn+1 =n∑i=0

fi · αn−i, by induction.

19 / 26

Conclusion

Suppose σx > σy .

L(x) =∞∑k=0

(−σ2xy

2m + σ2

2σ2xσ

)2σxσy

, where

F (x) =ym2

4σy4+

σy4xm2

(x (σx2 − σy2)− 2σx2σy2)2−

−2σy2 + x

+−σx2 + σy2

2x (σx2 − σy2)− 4σx2σy2.

fk =1 +

)k ((k + 1)

(x2mσ

)+ 1−

(2σ2y)k+1

0, k > 0

, k = 0,

0 ≤ (n+ 1)αn+1 =n∑i=0

19 / 26

Conclusion

Suppose σx > σy .

L(x) =∞∑k=0

(−σ2xy

2m + σ2

2σ2xσ

)2σxσy

, where

F (x) =ym2

4σy4+

σy4xm2

(x (σx2 − σy2)− 2σx2σy2)2−

−2σy2 + x

+−σx2 + σy2

2x (σx2 − σy2)− 4σx2σy2.

0 ≤ fk =1 +

)k ((k + 1)

(x2mσ

)+ 1−

(2σ2y)k+1

0, k > 0

, k = 0,

0 ≤ (n+ 1)αn+1 =n∑i=0

19 / 26

Conclusion

Suppose σx > σy .

L(x) =∞∑k=0

(−σ2xy

2m + σ2

2σ2xσ

)2σxσy

, where

F (x) =ym2

4σy4+

σy4xm2

(x (σx2 − σy2)− 2σx2σy2)2−

−2σy2 + x

+−σx2 + σy2

2x (σx2 − σy2)− 4σx2σy2.

0 ≤ fk =1 +

)k ((k + 1)

(x2mσ

)+ 1−

(2σ2y)k+1

0, k > 0

, k = 0,

0 ≤ (n+ 1)αn+1 =n∑i=0

19 / 26

Conclusion

Bounds using majorant series

Let γ :=

1 + 12

+x2mσ

)2σy2

, αk := α0γk and αk := α0

Then αk ≤ αk ≤ αk, ∀k ∈ N.

Let PN (z) :=N−1∑k=0

(k + 1)!. Then we have the following error bounds:

εN (z) ≤ g(z)− PN (z) ≤ εN (z), where

εN (z) := 2α0σ2ye− z

(N + 1)!,

εN (z) :=α0

γe− z

2σ2y(zγ)N+1

(N + 1)!.

20 / 26

Conclusion

Bounds using majorant series

Let γ :=

1 + 12

+x2mσ

)2σy2

, αk := α0γk and αk := α0

Then αk ≤ αk ≤ αk, ∀k ∈ N.

Let PN (z) :=N−1∑k=0

(k + 1)!. Then we have the following error bounds:

εN (z) ≤ g(z)− PN (z) ≤ εN (z), where

εN (z) := 2α0σ2ye− z

(N + 1)!,

εN (z) :=α0

γe− z

2σ2y(zγ)N+1

(N + 1)!.

20 / 26

Conclusion

ExamplesSample 1

Case Input parameters (km)# σx σy R xm ym1 0.05 0.025 0.005 0.01 02 0.05 0.025 0.005 0 0.013 0.075 0.025 0.005 0.01 04 0.075 0.025 0.005 0 0.015 3 1 0.01 1 06 3 1 0.01 0 17 3 1 0.01 10 08 3 1 0.01 0 109 10 1 0.01 10 0

10 10 1 0.01 0 1011 3 1 0.05 5 012 3 1 0.05 0 5

21 / 26

Conclusion

Examples: quality η =ε10(z)− ε10(z)

ε10(z) + P10(z)and plot log

Case 1: η = 23 Case 2: η = 22 Case 4: η = 22

Case 6: η = 47 Case 8: η = 33 Case 11: η = 34

22 / 26

Conclusion

Numerical studySample 1

Case Probability of Collision (-)# Alfano Patera Chan New method1 9.742× 10−3 9.741× 10−3 9.754× 10−3 9.742× 10−3

2 9.181× 10−3 9.181× 10−3 9.189× 10−3 9.181× 10−3

3 6.571× 10−3 6.571× 10−3 6.586× 10−3 6.571× 10−3

4 6.125× 10−3 6.125× 10−3 6.135× 10−3 6.125× 10−3

5 1.577× 10−5 1.577× 10−5 1.577× 10−5 1.577× 10−5

6 1.011× 10−5 1.011× 10−5 1.011× 10−5 1.011× 10−5

7 6.443× 10−8 6.443× 10−8 6.443× 10−8 6.443× 10−8

8 0 3.219× 10−27 3.216× 10−27 3.219× 10−27

9 3.033× 10−6 3.033× 10−6 3.033× 10−6 3.033× 10−6

10 0 9.656× 10−28 9.645× 10−28 9.656× 10−28

11 1.039× 10−4 1.039× 10−4 1.039× 10−4 1.039× 10−4

12 1.564× 10−9 1.564× 10−9 1.556× 10−9 1.564× 10−9

− equal to reference value (from [Chan 2008])

23 / 26

Conclusion

Examples: quality ηN =εN (z)− εN (z)εN (z) + PN (z)

and plot log(piz

Case 3 Alfano: η800 = 30 Case 5 Alfano: η121000 = 20

Sample 2 (from [Alfano 2009])

Case Input parameters (m)# σx σy R xm ym3 114.25 1.41 15 0.15 3.885 177.8 0.038 10 2.12 -1.22

24 / 26

Conclusion

ExamplesSample 2 (from [Alfano 2009])

Case Input parameters (m)# σx σy R xm ym3 114.25 1.41 15 0.15 3.885 177.8 0.038 10 2.12 -1.22

Alfano’s test Probability of collision (-)case number Alfano New method Reference (MC)

3 0.10038 0.10038 0.100855 0.044712 0.045509 0.044499

25 / 26

Conclusion

New method

Analytical formula

Reduced cancellation evaluation

Error bounds

No simplifying assumption

Current and future work

Saddle-point method for ”degenerate” cases

Long-term 3D encounter model

Extension to polygonal cross-sections

Extensive testings and comparisons with existing methods

26 / 26

A new method to compute the probability of collision for short...

Documents

Transcript of A new method to compute the probability of collision for short...

Simultaneous Calibration of Odometry and Sensor Parameters ...homepages.laas.fr/afranchi/robotics/sites/default/files/2013i... · Index Terms—Mobile robots, differential-drive,

THE LOGARITHMIC PICARD GROUP AND ITS TROPICALIZATIONholmesdst/logpic_19_March.pdf · THE LOGARITHMIC PICARD GROUP AND ITS TROPICALIZATION 3 the niteness of the diagonal. The group

Reduction of Couplings and the top-bottom-Higgs-s spectrum …cis01.central.ucv.ro/pauc/vol/2014_24/pauc2014_56_79.pdf · 2015. 2. 25. · among couplings that guarantee niteness

Modelling the structure and dynamics of biological ...homepages.laas.fr/jcortes/algosb13/Algo2013_CharlesRobert.pdf · • Organism cell macromolecules (proteins, DNA, RNA) • Low

POLYNOMIALS AND LEMNISCATES OF INDEFINITENESSmath.aalto.fi/~mhuhtane/indef.pdfPOLYNOMIALS OF INDEFINITENESS 3 2. Inde niteness, polynomial unitarity and lemniscates. In what follows,

Infrared niteness of theories with bino-like dark matter ... · June 11, 2019 Infrared niteness of theories with bino-like dark matter at nite temperature Pritam Sen and D. Indumathiy

Hypercontractive inequalities via SOS, and the Frankl-Rödl graph Manuel Kauers (Johannes Kepler Universität) Ryan ODonnell (Carnegie Mellon University)

Correlation between mechanical properties and microstructure of …homepages.laas.fr/nolhier/ESREF2015/SESSION_E1/PE1_1.pdf · 2015. 9. 3. · Correlation between mechanical properties

Passiﬁcation-Based Adaptive Control of Linear Systems ...homepages.laas.fr/peaucell/papers/ijacsp08.pdf · teristic of passivity, namely passiﬁcation-based adaptive control. This

ON 3-DIMENSIONAL LATTICE WALKS CONFINED TO THE … · 6 A. BOSTAN, M. BOUSQUET-MÉLOU, M. KAUERS, AND S. MELCZER (D) there exists a permutation of the coordinates which, applied to

Curses of Dimensionality and Positive-De niteness?pourahm/talk06.pdf · How To Lift the \Curses" of Dimensionality and Positive-De niteness? ... SAS PROC MIXED and lme provide a ...

Determination of macromolecular structure and …homepages.laas.fr/jcortes/algosb13/MNilges_data-structure-dynamics.… · Determination of macromolecular structure and dynamics from

Complexity of Circuit Ideal Membership Testing · COMPLEXITY OF CIRCUIT IDEAL MEMBERSHIP TESTING Daniela Ritirc, Armin Biere, Manuel Kauers Johannes Kepler University Linz, Austria

A Framework for Dependability Engineering of Critical ...homepages.laas.fr/kaaniche/documents/KaanicheLapr... · A Framework for Dependability Engineering of Critical Computing Systems

Constraint Programming and Combinatorial Optimisation in ...homepages.laas.fr/ehebrard/papers/presaaai2010.pdf · Constraint Programming and Combinatorial Optimisation in Numberjack

Lower Bounds on Complexity of Lyapunov Functions for ... · Index terms: stability of switched systems, linear di erence inclusions, the niteness conjecture of the joint spectral

De ning De niteness in T. uroyoeecoppock.info/glossa-paper.pdf · De ning De niteness in T. uroyo Miriam Yifrach and Elizabeth Coppock February 1, 2020 Abstract This paper reports

Motion Planning Technologies for Planetary Rovers and ...homepages.laas.fr/nic/MOVIE/Workshop/Slides/Eric.Baumgartner.pdf · Motion Planning Technologies for Planetary Rovers and

De niteness, uniqueness, and maximality in languages with ...

Department of Mechanical Engineering, University of ...homepages.laas.fr/henrion/ecc15/mezic-workshop-ecc15.pdf · Bibliography Koopman operator / Perron-Frobenius operator • Lasota