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@inproceedings{vandenberg2008a,
title = {Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation},
booktitle = {International Conference on Robotics and Automation},
author = {Van den Berg and Jur and Lin and Ming and Manocha and Dinesh},
address = {Pasadena, CA},
publisher = {IEEE},
pages = {1928-1935},
month = {May},
year = {2008},
abstract = {In this paper, we propose a new concept the ``Reciprocal Velocity Obstacle{''}
- for real-time multi-agent navigation. We consider the case in which each
agent navigates independently without explicit communication with other
agents. Our formulation is an extension of the Velocity Obstacle concept
{[}3], which was introduced for navigation among (passively) moving obstacles.
Our approach takes into account the reactive behavior of the other agents by
implicitly assuming that the other agents make a similar collision-avoidance
reasoning. We show that this method guarantees safe and oscillation-free
motions for each of the agents. We apply our concept to navigation of hundreds
of agents in densely populated environments containing both static and moving
obstacles, and we show that real-time and scalable performance is achieved in
such challenging scenarios.}}