Generalized reciprocal collision avoidance

@article{Bareiss2015GeneralizedRC,
  title={Generalized reciprocal collision avoidance},
  author={Daman Bareiss and Jur P. van den Berg},
  journal={I. J. Robotics Res.},
  year={2015},
  volume={34},
  pages={1501-1514}
}
Reciprocal collision avoidance has become a popular area of research over recent years. Approaches have been developed for a variety of dynamic systems ranging from single integrators to car-like, differential-drive, and arbitrary, linear equations of motion. In this paper, we present two contributions. First, we provide a unification of these previous approaches under a single, generalized representation using control obstacles. In particular, we show how velocity obstacles, acceleration… CONTINUE READING
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