• DOI:10.1109/ICRA.2012.6225166
Corpus ID: 14336014

Reciprocal collision avoidance for multiple car-like robots

@article{AlonsoMora2012ReciprocalCA,
  title={Reciprocal collision avoidance for multiple car-like robots},
  author={J. Alonso-Mora and A. Breitenmoser and P. Beardsley and R. Siegwart},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={360-366}
}

• J. Alonso-Mora, A. Breitenmoser, +1 author R. Siegwart
• Published 2012
• Computer Science
• 2012 IEEE International Conference on Robotics and Automation

In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles. The underlying principle of the B-ORCA algorithm applies more generally to other… Expand

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