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CITATION.cff
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# -*- mode: yaml; -*-
# vi: set ft=yaml:
# CITATION.cff
# AVO2 Library
#
# SPDX-FileCopyrightText: 2010 University of North Carolina at Chapel Hill
# SPDX-License-Identifier: CC-BY-SA-4.0
#
# Creative Commons Attribution-ShareAlike 4.0 International Public License
#
# You are free to:
#
# * Share — copy and redistribute the material in any medium or format
#
# * ShareAlike — If you remix, transform, or build upon the material, you must
# distribute your contributions under the same license as the original
#
# * Adapt — remix, transform, and build upon the material for any purpose, even
# commercially.
#
# The licensor cannot revoke these freedoms as long as you follow the license
# terms.
#
# Under the following terms:
#
# * Attribution — You must give appropriate credit, provide a link to the
# license, and indicate if changes were made. You may do so in any reasonable
# manner, but not in any way that suggests the licensor endorses you or your
# use.
#
# * No additional restrictions — You may not apply legal terms or technological
# measures that legally restrict others from doing anything the license
# permits.
#
# Notices:
#
# * You do not have to comply with the license for elements of the material in
# the public domain or where your use is permitted by an applicable exception
# or limitation.
#
# * No warranties are given. The license may not give you all of the permissions
# necessary for your intended use. For example, other rights such as
# publicity, privacy, or moral rights may limit how you use the material.
#
# Please send all bug reports to <[email protected]>.
#
# The authors may be contacted via:
#
# Jur van den Berg, Jamie Snape, Stephen J. Guy, and Dinesh Manocha
# Dept. of Computer Science
# 201 S. Columbia St.
# Frederick P. Brooks, Jr. Computer Science Bldg.
# Chapel Hill, N.C. 27599-3175
# United States of America
#
# <https://gamma.cs.unc.edu/AVO/>
#
---
cff-version: 1.2.0
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, 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.
authors:
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Berg
given-names: Jur
name-particle: 'van den'
post-code: 27599
region: NC
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Snape
given-names: Jamie
orcid: 'https://orcid.org/0000-0002-3326-9765'
post-code: 27599
region: NC
website: 'https://www.jamiesnape.io/'
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Guy
given-names: 'Stephen J.'
orcid: 'https://orcid.org/0000-0001-8986-5817'
post-code: 27599
region: NC
website: 'https://www-users.cse.umn.edu/~sjguy/'
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Manocha
given-names: Dinesh
orcid: 'https://orcid.org/0000-0001-7047-9801'
post-code: 27599
region: NC
website: 'https://www.cs.umd.edu/people/dmanocha/'
identifiers:
- type: doi
value: '10.5281/zenodo.7039600'
keywords:
- 'collision avoidance'
- 'mobile robots'
- 'motion planning'
- 'multi-robot systems'
- navigation
license: 'Apache-2.0'
message: >-
If you use this software, please cite it using the metadata from this file
and the metadata from 'preferred-citation'.
preferred-citation:
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, 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.
authors:
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Berg
given-names: Jur
name-particle: 'van den'
post-code: 27599
region: NC
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Snape
given-names: Jamie
orcid: 'https://orcid.org/0000-0002-3326-9765'
post-code: 27599
region: NC
website: 'https://www.jamiesnape.io/'
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Guy
given-names: 'Stephen J.'
orcid: 'https://orcid.org/0000-0001-8986-5817'
post-code: 27599
region: NC
website: 'https://www-users.cse.umn.edu/~sjguy/'
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Manocha
given-names: Dinesh
orcid: 'https://orcid.org/0000-0001-7047-9801'
post-code: 27599
region: NC
website: 'https://www.cs.umd.edu/people/dmanocha/'
conference:
address: >-
Shanghai International Convention Center, 2727 Binjiang Avenue, Pudong
New Area
city: Shanghai
country: CN
date-end: '2011-05-09'
date-start: '2011-05-13'
name: '2011 IEEE International Conference on Robotics and Automation (ICRA)'
post-code: 200120
contact:
- address: >-
201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
affiliation: 'University of North Carolina at Chapel Hill'
city: 'Chapel Hill'
country: US
family-names: Snape
given-names: Jamie
orcid: 'https://orcid.org/0000-0002-3326-9765'
post-code: 27599
region: NC
website: 'https://www.jamiesnape.io/'
collection-doi: '10.1109/ICRA11042.2010'
collection-title: >-
Proceedings of the 2011 IEEE International Conference on Robotics and
Automation (ICRA)
collection-type: proceedings
copyright: >-
Copyright © 2011 Institute of Electrical and Electronics Engineers
date-published: '2011-08-18'
editors:
- address: 'Centro di Ricerca "E. Piaggio", Largo Lucio Lazzarino 1'
affiliation: 'Università di Pisa'
city: Pisa
country: IT
family-names: Bicchi
given-names: Antonio
orcid: 'https://orcid.org/0000-0001-8635-5571'
post-code: 56122
end: 3482
identifiers:
- type: doi
value: '10.1109/ICRA.2011.5980408'
isbn: '978-1-61284-386-5'
issn: '1050-4729'
keywords:
- 'collision avoidance'
- 'mobile robots'
- 'motion planning'
- 'multi-robot systems'
- navigation
publisher:
address: '3 Park Ave 17th Fl'
city: 'New York'
country: US
name: 'Institute of Electrical and Electronics Engineers'
post-code: 10016
region: NY
languages:
- en
month: 5
pages: 8
start: 3475
title: 'Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles'
type: 'conference-paper'
url: 'https://gamma.cs.unc.edu/AVO/'
year: 2011
repository-code: 'https://github.com/snape/AVO2'
title: 'Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles'
type: software
url: 'https://gamma.cs.unc.edu/AVO/'