Mobile Robots' Collision Prediction Based on Virtual Cocoons. - Virginijus Baranauskas; Zydrunas Jakas; Kastytis Kiprijonas Sarkauskas; Stanislovas Bartkevicius; Gintaras Dervinis; Alma Derviniene; Leonas Balasevicius; Vidas Raudonis; Renaldas Urniezius; Jolanta Repsyte (Intell. Autom. Soft Comput., 2022)