Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles

@article{Snape2009IndependentNO,
  title={Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles},
  author={Jamie Snape and Jur P. van den Berg and Stephen J. Guy and Dinesh Manocha},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={5917-5922}
}
We present an approach for smooth and collision-free navigation of multiple mobile robots amongst each other. Each robot senses its surroundings and acts independently without central coordination or communication with other robots. Our approach uses both the current position and the velocity of other robots to predict their future trajectory in order to avoid collisions. Moreover, our approach is reciprocal and avoids oscillations by explicitly taking into account that the other robots also… CONTINUE READING
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