We propose the reciprocal velocity obstacle (RVO) concept for real-time multi-agent navigation in which each agent navigates independently without explicit communication with other agents. RVO is an extension of the velocity obstacle (VO) that takes into account the reactive behavior of the other agents by implicitly assuming that they make similar collision-avoidance reasoning. RVO guarantees safe and oscillation-free motions for each of the agents.
http://gamma.cs.unc.edu/RVO/
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