# 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…

## 113 Citations

Generalized Reciprocal Collision Avoidance for Non-holonomic Robots

- Mathematics2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA)
- 2019

It is shown that reciprocal collision avoidance can be achieved without using any linear approximation as long as the changing ratios fall into such set of linear velocities.

Multi Robot Collision Avoidance with Continuous Curvature Manoeuvres

- Computer ScienceAIR '13
- 2013

The collision cone approach of collision avoidance is modified to the case of multiple robots moving with non-linearly varying velocities and the reactive collision avoidance and goal-reaching could be solved as a constrained optimization problem.

Reciprocal collision avoidance for robots with linear dynamics using LQR-Obstacles

- Computer Science2013 IEEE International Conference on Robotics and Automation
- 2013

The approach defines a protocol for robots to select their control input independently while guaranteeing collision-free motion for all robots, assuming the robots can perfectly observe each other's state.

Reactive collision avoidance for multiple robots by non linear time scaling

- Computer Science52nd IEEE Conference on Decision and Control
- 2013

A “scaled” variant of the collision cone concept which automatically induces distributiveness among robots is presented which allows robots to reactively accelerate/de-accelerate without altering the geometric path.

Collaborative Optimal Reciprocal Collision Avoidance for Mobile Robots

- Business, Computer Science
- 2015

This protocol is inspired from the traffic rules and solves the problem of deadlocks effectively and was tested upon Player-Stage based simulation where deadlocks were avoided successfully.

Cooperative Collision Avoidance for Nonholonomic Robots

- Computer ScienceIEEE Transactions on Robotics
- 2018

The method builds on the concept of reciprocal velocity obstacles and extends it to respect the kinodynamic constraints of the robot and account for a grid-based map representation of the environment and solve an optimization in the space of control velocities with additional constraints.

A Reciprocal Collision Avoidance Algorithm for Nonholonomic Vehicles with Constant Forward Speed

- Computer Science
- 2018

This thesis presents an reciprocal CA algorithm for nonholonomic vehicles with constant speed that considers the reactive nature of other vessels and is designed so that vehicles share the responsibility of avoiding a collision between them in a fair way.

Development of collision avoidance system for multiple autonomous mobile robots

- Computer Science
- 2020

The results showed that the proposed system is able to prevent collision between vehicles with an acceptable success rate.

Model-based collision avoidance for dynamic single- and multi-robot systems: Theory and application in ground and aerial robots

- Computer Science
- 2016

This dissertation solves the collision avoidance problem for singleand multi-robot systems where dynamic effects are significant and develops a stochastic collision avoidance algorithm for a tele-operated unmanned aerial vehicle (UAV) that considers uncertainty in the robot’s dynamics model and the obstacles’ position as measured from sensors.

Collision-Free Kinematics for Redundant Manipulators in Dynamic Scenes using Optimal Reciprocal Velocity Obstacles

- Computer Science, PhysicsArXiv
- 2018

This work presents an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator and can be used to compute safe and oscillation-free trajectories in a few milli-seconds.

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