Optimal Reciprocal Collision Avoidance for Multi-Agent Navigation Jur van den

  • Berg Stephen J. Guy Ming Lin Dinesh Manocha
  • Published 2010


In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive… (More)

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