Collision avoidance for multiple agents with joint utility maximization

  title={Collision avoidance for multiple agents with joint utility maximization},
  author={Javier Alonso-Mora and Martin Rufli and Roland Y. Siegwart and Paul A. Beardsley},
  booktitle={ICRA 2013},
In this paper a centralized method for collision avoidance among multiple agents is presented. It builds on the velocity obstacle (VO) concept and its extensions to arbitrary kino-dynamics and is applicable to heterogeneous groups of agents (with respect to size, kino-dynamics and aggressiveness) moving in 2D and 3D spaces. In addition, both static and dynamic obstacles can be considered in the framework. The method maximizes a joint utility function and is formulated as a mixed-integer… 
Proximal Operators for Multi-Agent Path Planning
New operators to deal with agents moving in arbitrary dimensions that are faster to compute than their 2D predecessors are introduced and landmarks, space-time positions that are automatically assigned to the set of agents under different optimality criteria are introduced.
A Reactive Method for Collision Avoidance in Industrial Environments
The proposed reactive method based on the 3D-Optimal Reciprocal Collision Avoidance algorithm takes into consideration 3D modeled static obstacles and has been successfully applied in realistic industrial environments with the presence of complex static obstacles.
Shared control of autonomous vehicles based on velocity space optimization
The driver commands a preferred velocity which is transformed into a collision-free local motion that respects the actuator constraints and allows for smooth and safe control and both a centralized and a distributed algorithm are provided that allow for real-time control of tens of vehicles.
Time scaled collision cone based trajectory optimization approach for reactive planning in dynamic environments
The theoretical and practical side of the proposed trajectory optimization approach for navigating a non-holonomic wheeled mobile robot in dynamic environments shows that the proposed planner performs better than sampling based planners which treat dynamic obstacles as static over a short duration of time.
SPARTA : Fast global planning of collision-avoiding robot trajectories
This work presents an algorithm for obtaining collision-avoiding robot trajectories called SPARTA (SPline-based ADMM for Robot Trajectory Avoidance), using a recently developed generalization of ADMM, the Three Weight Algorithm, which can be elegantly understood as a message passing algorithm.


Collision avoidance method for multiple autonomous mobile agents by implicit cooperation
  • Y. Abe, M. Yoshiki
  • Business
    Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • 2001
A velocity index is introduced which evaluates velocities to achieve good task performance and collision avoidance simultaneously and the efficiency of the cooperative collision avoidance method is demonstrated.
Motion Planning in Dynamic Environments Using Velocity Obstacles
This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on the
Reciprocal collision avoidance for multiple car-like robots
The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collisions avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles.
Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach
An algorithm that generates collision-free trajectories in three dimensions for multiple vehicles within seconds using sequential convex programming that approximates non-convex constraints by using convex ones is presented.
Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non- holonomic constraints.
Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
An algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles in mixed-integer quadratic programs where the integer constraints are used to enforce collision avoidance.
PLEdestrians: a least-effort approach to crowd simulation
This work uses an optimization method to compute a biomechanically energy-efficient, collision-free trajectory that minimizes the amount of effort for each heterogeneous agent in a large crowd, and can automatically generate many emergent phenomena such as lane formation, crowd compression, edge and wake effects ant others.
Image and animation display with multiple mobile robots
This work describes a display in which each pixel is a mobile robot of controllable color, and their positioning and motion are used to produce a novel experience.
Object and animation display with multiple aerial vehicles
A fully automated method to display objects and animations in 3D with a group of aerial vehicles that includes algorithms for goal assignment, path planning and local reciprocal collision avoidance that guarantee smooth, fast and oscillation-free motion.