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In this context, a major focus of this thesis is on unintentional collisions,where a straight goal is to eliminate injury from users and passerby's viarealtime sensing and control systems. A less obvious focus is to combinecollision response with tools from motion planning in order to produceintelligent safety behaviors that ensure the safety of multiple people orobjects. Yet, an even more challenging problem is to anticipate futurecollisions between objects external to the robot and have the robot interveneto prevent imminent accidents. In this dissertation, we study all of thesesophisticated flavors of collision reaction and intervention. We investigatein-depth multiple key and interesting topics related to collisions and safetyof mobile robots and robotic manipulators operating in human environments.Overall we deeply investigate collisions from many perspectives and developtechniques that borrow and contribute to the areas of mechatronic design,sensor processing, feedback controls, motion planning, and probabilisticreasoning methods. The result of this study is a set of key experiments andguidelines to deal with collisions in mobile robots and robotic manipulators.This study aims at influencing future studies on field operations of robots andaccelerate the employment of advanced robots in our daily environments withoutcompromising our safety.

Intelligent Collision Management in Dynamic Environments for Human-Centered Robots