In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. We test our approach on several dense and complex simulation scenarios involving thousands of robots and compute collision-free actions for all of them in only a few milliseconds. To the best of our knowledge, this method is the first that can guarantee local collision-free motion for a large number of robots in a cluttered workspace. © 2011 Springer-Verlag.
CITATION STYLE
Van Den Berg, J., Guy, S. J., Lin, M., & Manocha, D. (2011). Reciprocal n-body collision avoidance. In Springer Tracts in Advanced Robotics (Vol. 70, pp. 3–19). https://doi.org/10.1007/978-3-642-19457-3_1
Mendeley helps you to discover research relevant for your work.