Figure - PMC

Skip to main content

An official website of the United States government

Here's how you know

Here's how you know

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

View full-text article in PMC

. 2016 Sep;13(122):20160502. doi: 10.1098/rsif.2016.0502

Search in PMC
Search in PubMed
View in NLM Catalog
Add to search

© 2016 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

PMC Copyright notice

Figure 6. — The grey cone with dashed borders depicts the anatomy of a collision cone for an agent that is not in a conflict: indicates that falls outside the collision cone. The blue cones with solid borders depict collision cones for agents in conflict; potential optima are shown that are within the maximum velocity constraint (cyan) and as well as those that are infeasible (grey) at locations 1 and 2 on a single collision cone (open and closed circles, respectively) and location 3 on the intersection of collision cones (square).

Inline graphic — The grey cone with dashed borders depicts the anatomy of a collision cone for an agent that is not in a conflict: indicates that falls outside the collision cone. The blue cones with solid borders depict collision cones for agents in conflict; potential optima are shown that are within the maximum velocity constraint (cyan) and as well as those that are infeasible (grey) at locations 1 and 2 on a single collision cone (open and closed circles, respectively) and location 3 on the intersection of collision cones (square).