Pith Number

pith:2VL7QC6T

pith:2026:2VL7QC6TGZXVOREHZRNRASUR2K

not attested not anchored not stored refs resolved

MoCCA: A Movable Circle Probability of Collision Approximation

Christian Birkner, Tobias Kern

Optimizing the position of one circle per vehicle cuts over-conservatism in collision probability while matching the speed of fixed single-circle methods.

arxiv:2605.13125 v1 · 2026-05-13 · cs.RO

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4 Citations open

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Claims

C1strongest claim

MoCCA maintains a computational efficiency comparable to standard single-circle techniques while reducing over-conservatism. We establish an upper bound for the approximation error, demonstrating that it depends primarily on inter-vehicle distance and orientation variance. Furthermore, we introduce a safety distance margin that can be calibrated solely based on orientation variance.

C2weakest assumption

The optimization of the movable circle position accurately minimizes relative distance without introducing new underestimation errors beyond the stated bound, and that the error bound derivation holds for the partial coverage cases typical in real sensor data.

C3one line summary

MoCCA optimizes a single movable circle per vehicle to approximate collision probability with bounded error depending on distance and orientation uncertainty.

References

17 extracted · 17 resolved · 0 Pith anchors

[1] Model-Based Probabilistic Collision Detection in Autonomous Driving, 2009

[2] An Integrated Approach to Maneuver-Based Trajectory Prediction and Criticality Assessment in Arbitrary Road Environments, 2016

[3] Safe Nonlinear Trajectory Generation for Parallel Autonomy With a Dynamic Vehicle Model, 2018

[4] Probabilistic constraint tighten- ing techniques for trajectory planning with predictive control, 2022

[5] Probability of Collision Error Analysis, 1999

Receipt and verification

First computed	2026-05-18T03:08:57.898616Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d557f80bd3366f574487cc5b104a91d2b93857d5700268679e52cb6622c402b1

Aliases

arxiv: 2605.13125 · arxiv_version: 2605.13125v1 · doi: 10.48550/arxiv.2605.13125 · pith_short_12: 2VL7QC6TGZXV · pith_short_16: 2VL7QC6TGZXVOREH · pith_short_8: 2VL7QC6T

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/2VL7QC6TGZXVOREHZRNRASUR2K \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d557f80bd3366f574487cc5b104a91d2b93857d5700268679e52cb6622c402b1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "44f44d737127687cb4202f7058cda8be3d90736ad97a0d42819dcff2e3b28675",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T07:52:32Z",
    "title_canon_sha256": "cb908b773f781d7e2e18c3234cae00e0fde23cd21c78ccc0a179ca43a224e3c7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13125",
    "kind": "arxiv",
    "version": 1
  }
}