Crash Percentage. ZAPP produces a low crash percentage (approximately 1/10 compared to MATS). This
Crash Percentage. ZAPP produces a low crash percentage (approximately 1/10 compared to MATS). This TABLE I: Baseline performance on goals/crashes (G/C), average speed (AS), and average solve time (ST). shows that collision checking in continuous time has a positive effect on safety and task completion. The fact that ZAPP w/o DC has more crashes than ZAPP indicates that modeling uncertainty (i.e., reachable sets) is necessary, and that improving predictor robustness is critical for future work. This is further supported by the high crash percentage of MATS w/o DC, which is not acceptable in safety-critical control tasks. Overall, these results indicate that the extension of collision checking to continuous time has a positive effect on safety and robustness to perturbations when planning ego motion in dynamic, multi-agent scenes.
