Collision avoidance for multiple agents with joint utility maximization

@inproceedings{AlonsoMora2013CollisionAF,
  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},
  year={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… 
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