Reciprocal collision avoidance for multiple car-like robots

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

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