Collision Avoidance Algorithms: Multi-agent Approach

2007 ◽  
pp. 348-360 ◽  
Author(s):  
Pavel Vrba ◽  
Vladimír Mařík ◽  
Libor Přeučil ◽  
Miroslav Kulich ◽  
David Šišlák
Keyword(s):  
Collision Avoidance ◽  
Multi Agent

scholarly journals Velocity Obstacle Approaches for Multi-Agent Collision Avoidance

2019 ◽  
Vol 07 (01) ◽  
pp. 55-64 ◽  
Author(s):  
James A. Douthwaite ◽  
Shiyu Zhao ◽  
Lyudmila S. Mihaylova
Keyword(s):  
Collision Avoidance ◽  
Critical Analysis ◽  
Monte Carlo Analysis ◽  
The Other ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Obstacle ◽  
Scalable Computation ◽  
Avoidance Problem

This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches. Each approach is evaluated with respect to increasing agent populations and variable sensing assumptions. In implementing the localized avoidance problem, the author notes a problem of symmetry not considered in the literature. An intensive 1000-cycle Monte Carlo analysis is used to assess the performance of the selected algorithms in the presented conditions. The ORCA method is shown to yield the most scalable computation times and collision likelihood in the presented cases. The HRVO method is shown to be superior than the other methods in dealing with obstacle trajectory uncertainty for the purposes of collision avoidance. The respective features and limitations of each algorithm are discussed and presented through examples.

scholarly journals Collision avoidance for aerial vehicles in multi-agent scenarios

2015 ◽  
Vol 39 (1) ◽  
pp. 101-121 ◽  
Author(s):  
Javier Alonso-Mora ◽  
Tobias Naegeli ◽  
Roland Siegwart ◽  
Paul Beardsley
Keyword(s):  
Collision Avoidance ◽  
Aerial Vehicles ◽  
Multi Agent
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