@inproceedings { MM17, author = { Muhannad Mujahed and B{"a}rbel Mertsching }, title = { The Admissible Gap (AG) Method for Reactive Collision Avoidance }, month = { January }, year = { 2017 }, address = { Marina Bay Sands, Singapore }, booktitle = { IEEE International Conference on Robotics and Automation (ICRA 2017) }, abstract = { This paper proposes a new concept, the Admissible Gap, for reactive collision avoidance. We call a gap admissible if it is possible to find a collision-free motion command that guides a mobile robot through it, while respecting the vehicle constraints. By utilizing this concept, a new collision avoidance approach was developed, achieving an outstanding performance in unknown dense environments. Unlike the widely used gap-based techniques, our approach directly accounts for the exact shape and kinematics, rather than finding a direction solution and turning it later into a collision-free admissible motion. Experimental results demonstrated the outstanding behavior of the AG approach. Furthermore, a comparison with existing state-of-the-art methods showed that the AG approach achieves the best results in terms of efficiency, safety, and smoothness. } }