The DOI matches its Crossref record; 16 of the 16 references it cites were found in a registry or an index.
Reciprocal collision avoidance with acceleration-velocity obstacles
Abstract
We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace. Inspired by the concept of velocity obstacles [3], we introduce the acceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving obstacles while obeying acceleration constraints. AVO characterizes the set of new velocities the robot can safely reach and adopt using proportional control of the acceleration. We extend this concept to reciprocal collision avoidance for multi-robot settings, by letting each robot take half of the responsibility of avoiding pairwise collisions. Our formulation guarantees collision-free navigation even as the robots act independently and simultaneously, without coordination. Our approach is designed for holonomic robots, but can also be applied to kinematically constrained non-holonomic robots such as cars. We have implemented our approach, and we show simulation results in challenging environments with large numbers of robots and obstacles.
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Citations
Cites
The dynamic window approach to collision avoidance
Fox, D., Burgard, W., & Thrun, S. (1997) · IEEE Robotics & Automation Magazine · doi:10.1109/100.580977 · Cited by 3,771
Motion Planning in Dynamic Environments Using Velocity Obstacles
Fiorini, P., & Shiller, Z. (1998) · The International Journal of Robotics Research · doi:10.1177/027836499801700706 · Cited by 2,008
Reciprocal n-Body Collision Avoidance
van den Berg, J., Guy, S. J., Lin, M., & Manocha, D. (2011) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-642-19457-3_1 · Cited by 1,858
Self-citationReciprocal Velocity Obstacles for real-time multi-agent navigation
van den Berg, J., Lin, M., & Manocha, D. (2008) · 2008 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2008.4543489 · Cited by 1,722
Self-citationRandomized Kinodynamic Motion Planning with Moving Obstacles
Hsu, D., Kindel, R., Latombe, J.-C., & Rock, S. (2002) · The International Journal of Robotics Research · doi:10.1177/027836402320556421 · Cited by 771
The GRASP Multiple Micro-UAV Testbed
Michael, N., Mellinger, D., Lindsey, Q., & Kumar, V. (2010) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2010.937855 · Cited by 768
Inevitable collision states — a step towards safer robots?
Fraichard, T., & Asama, H. (2004) · Advanced Robotics · doi:10.1163/1568553042674662 · Cited by 324
ClearPath: highly parallel collision avoidance for multi-agent simulation
Guy, S. J., Chhugani, J., Kim, C., Satish, N., Lin, M., Manocha, D., & Dubey, P. (2009) · Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation · doi:10.1145/1599470.1599494 · Cited by 291
Self-citationSafe motion planning in dynamic environments
Petti, S., & Fraichard, T. (2005) · 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2005.1545549 · Cited by 264
Generalized velocity obstacles
Wilkie, D., van den Berg, J., & Manocha, D. (2009) · 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2009.5354175 · Cited by 241
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Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Optimal Multirobot Path Planning on Graphs: Complete Algorithms and Effective Heuristics
Yu, J., & LaValle, S. M. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2593448 · Cited by 331
Motion planning under uncertainty using iterative local optimization in belief space
van den Berg, J., Patil, S., & Alterovitz, R. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912456319 · Cited by 299
Self-citationLuis, C. E., Vukosavljev, M., & Schoellig, A. P. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2964159 · Cited by 274
Luis, C. E., & Schoellig, A. P. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2890572 · Cited by 160
Metadata
- Authors
- van den Berg, J., Snape, J., Guy, S. J., & Manocha, D.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 3475-3482
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2158400962
- Cited by
- 288
- References
- 16
- FWCI
- 8.61
- Type
- conference paper
- Language
- en
- Open access
- closed
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- van den Berg, J., Snape, J., Guy, S. J., & Manocha, D. (2011). Reciprocal collision avoidance with acceleration-velocity obstacles. 2011 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2011.5980408
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