V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles

by   Senthil Hariharan Arul, et al.

We present a decentralized collision avoidance method for dense environments that is based on buffered Voronoi cells (BVC) and reciprocal velocity obstacles (RVO). Our approach is designed for scenarios with large number of close proximity agents and provides passive-friendly collision avoidance guarantees. The Voronoi cells are superimposed with RVO cones to compute a suitable direction for each agent and we use that direction for computing a local collision-free path. Our approach can satisfy double-integrator dynamics constraints and we use the properties of the BVC to formulate a simple, decentralized deadlock resolution strategy. We demonstrate the benefits of V-RVO in complex scenarios with tens of agents in close proximity. In practice, V-RVO's performance is comparable to prior velocity-obstacle methods and the collision avoidance behavior is significantly less conservative than ORCA.



page 6


DCAD: Decentralized Collision Avoidance with Dynamics Constraints for Agile Quadrotor Swarms

We present a novel, decentralized collision avoidance algorithm for navi...

LAC-Nav: Collision-Free Mutiagent Navigation Based on The Local Action Cells

Collision avoidance is one of the most primary requirement in the decent...

LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes

In this paper, we address the problem of collision avoidance for a swarm...

IVO: Inverse Velocity Obstacles for Real Time Navigation

In this paper, we present "IVO: Inverse Velocity Obstacles" an ego-centr...

Efficient Reciprocal Collision Avoidance between Heterogeneous Agents Using CTMAT

We present a novel algorithm for reciprocal collision avoidance between ...

SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms under Uncertainty

We present decentralized collision avoidance algorithms for quadrotor sw...

Collisionless and Decentralized Formation Control for Strings

A decentralized feedback controller for multi-agent systems, inspired by...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.