Stephen J. Guy
ABSTRACT
We present an approach to reciprocal collision avoidance, where multiple mobile agents must avoid collisions with each other while moving in a common workspace. Each agent acts fully independently, and does not communicate with others. Yet our approach guarantees that all agents will be collision-free for at least a fixed amount of time. Our approach provides a sufficient condition for collision-free motion. Given the agent's objective, the optimal collision-free action can be computed very efficiently, as it is the solution to a two-dimensional linear program. We show our approach on dense and complex simulation scenarios involving thousands of agents at fast real-time running times.
- P. Fiorini and Z. Shiller. Motion planning in dynamic environments using velocity obstacles. In IJRR, 1998.Google Scholar
Cross Ref
- S. M. LaValle. Planning Algorithms. Cambridge University Press, 2006. Google ScholarDigital Library
- J. van den Berg, S. J. Guy, M. Lin, and D. Manocha. Reciprocal n-body collision avoidance. In ISRR, 2009.Google Scholar
Index Terms
- Geometric methods for multi-agent collision avoidance
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