Algorithm 4 Decision-making for avoidance maneuvers

Input: ${\mathit{O}}_{\mathit{t}}$                        ► Ot: object IDs and locations at current frame Output: ${\mathit{A}}_{\mathit{t}}$                        ► $A_t$: object IDs and locations at current frame 1: $\mathit{f}\mathit{o}\mathit{r} object \mathit{i}\mathit{n} {\mathit{O}}_{\mathit{t}}:$ 2: $position\leftarrow 3D position of object$                  ► acquire 3D position of object 3: $\mathit{i}\mathit{f} position.z<d_{stopThresh} :$ 4: $emergency stop before proceeding$ 5: $\mathit{b}\mathit{r}\mathit{e}\mathit{a}\mathit{k}$ 6: $\mathit{i}\mathit{f} position \mathit{i}\mathit{s} \mathit{i}\mathit{n}\mathit{s}\mathit{i}\mathit{d}\mathit{e} R_{SafeWindow}:$ 7: $mark object as hostile$               ► consider object as a threat if inside SafeWindow 8: $\mathit{i}\mathit{f} position.z<d_{avoidThresh}:$      ► execute avoidance maneuver if distance is below threshold 9: $\mathit{i}\mathit{f} position.xy \mathit{i}\mathit{n} upperRegion:$ 10: $move downward at v m/s until outside of R_{SafeWindow}$ 11: $\mathit{i}\mathit{f} position.xy \mathit{i}\mathit{n} lowerRegion:$ 12: $move upward at v m/s until outside of R_{SafeWindow}$ 13: $\mathit{i}\mathit{f} position.xy \mathit{i}\mathit{n} leftRegion:$ 14: $move right at v m/s until outside of R_{SafeWindow}$ 15: $\mathit{i}\mathit{f} position.xy \mathit{i}\mathit{n} rightRegion:$ 16: $move left at v m/s until outside of R_{SafeWindow}$ 17:     break