The DOI matches its Crossref record; 27 of the 27 references it cites were found in a registry or an index.
Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
Abstract
This letter presents a distributed collision avoidance algorithm for multiple dynamic vehicles moving in arbitrary dimensions. In our algorithm, each robot continually computes its buffered Voronoi cell (BVC) and plans its path within the BVC in a receding horizon fashion. We prove that our algorithm guarantees collision avoidance for robots with single integrator dynamics. We show that our algorithm has computational complexity of O(k), which is the same as that of the optimal reciprocal collision avoidance (ORCA) algorithm, and is considerably faster than model predictive control (MPC) and sequential convex programming (SCP) based approaches. Moreover, ORCA and MPC-SCP require relative position, velocity, and even other information, to be exchanged over a communication network among the robots. Our algorithm only requires the sensed relative position, and therefore is well suited for on-line implementation as it does not require a communication network, and it works well with noisy relative position sensors. Furthermore, we provide an extension of our algorithm to robots with higher-order dynamics like quadrotors. We demonstrate the capabilities of our algorithm by comparing it to ORCA in multiple benchmark simulation scenarios, and we present results of over 70 experimental trials using five quadrotors in a motion capture environment.
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Cites
Spatial Tessellations: Concepts and Applications of Voronoi Diagrams
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Coverage Control for Mobile Sensing Networks
Cortes, J., Martinez, S., Karatas, T., & Bullo, F. (2004) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2004.824698 · Cited by 2,710
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
Reciprocal 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
Motion planning with sequential convex optimization and convex collision checking
Schulman, J., Duan, Y., Ho, J., Lee, A., Awwal, I., Bradlow, H., Pan, J., Patil, S., Goldberg, K., & Abbeel, P. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364914528132 · Cited by 866
CVXGEN: a code generator for embedded convex optimization
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Spatial tessellations: concepts and applications of voronoi diagrams
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Mixed integer programming for multi-vehicle path planning
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Spacecraft Trajectory Planning with Avoidance Constraints Using Mixed-Integer Linear Programming
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The Hybrid Reciprocal Velocity Obstacle
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Cited by
Luis, C. E., Vukosavljev, M., & Schoellig, A. P. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2964159 · Cited by 274
Persistent and Robust Execution of MAPF Schedules in Warehouses
Honig, W., Kiesel, S., Tinka, A., Durham, J. W., & Ayanian, N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2894217 · Cited by 139
Adajania, V. K., Zhou, S., Singh, A. K., & Schoellig, A. P. (2023) · 2023 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra48891.2023.10161063 · Cited by 23
Metadata
- Authors
- Zhou, D., Wang, Z., Bandyopadhyay, S., & Schwager, M.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2017-04
- Volume
- 2
- Issue
- 2
- Pages
- 1047-1054
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2573311857
- Cited by
- 286
- References
- 27
- FWCI
- 6.96
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zhou, D., Wang, Z., Bandyopadhyay, S., & Schwager, M. (2017). Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2017.2656241
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
