Handle URI:
http://hdl.handle.net/10754/599462
Title:
Reciprocally-Rotating Velocity Obstacles
Authors:
Giese, Andrew; Latypov, Daniel; Amato, Nancy M.
Abstract:
© 2014 IEEE. Modern multi-agent systems frequently use highlevel planners to extract basic paths for agents, and then rely on local collision avoidance to ensure that the agents reach their destinations without colliding with one another or dynamic obstacles. One state-of-the-art local collision avoidance technique is Optimal Reciprocal Collision Avoidance (ORCA). Despite being fast and efficient for circular-shaped agents, ORCA may deadlock when polygonal shapes are used. To address this shortcoming, we introduce Reciprocally-Rotating Velocity Obstacles (RRVO). RRVO generalizes ORCA by introducing a notion of rotation for polygonally-shaped agents. This generalization permits more realistic motion than ORCA and does not suffer from as much deadlock. In this paper, we present the theory of RRVO and show empirically that it does not suffer from the deadlock issue ORCA has, permits agents to reach goals faster, and has a comparable collision rate at the cost of performance overhead quadratic in the (typically small) user-defined parameter δ.
Citation:
Giese A, Latypov D, Amato NM (2014) Reciprocally-Rotating Velocity Obstacles. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/ICRA.2014.6907324.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2014 IEEE International Conference on Robotics and Automation (ICRA)
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
May-2014
DOI:
10.1109/ICRA.2014.6907324
Type:
Conference Paper
Sponsors:
This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by Chevron, IBM, Intel, Orale/Sun and by Award KUS-C1-016-04, made by King Abdullah University of Science and Technology (KAUST).
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorGiese, Andrewen
dc.contributor.authorLatypov, Danielen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-28T05:51:35Zen
dc.date.available2016-02-28T05:51:35Zen
dc.date.issued2014-05en
dc.identifier.citationGiese A, Latypov D, Amato NM (2014) Reciprocally-Rotating Velocity Obstacles. 2014 IEEE International Conference on Robotics and Automation (ICRA). Available: http://dx.doi.org/10.1109/ICRA.2014.6907324.en
dc.identifier.doi10.1109/ICRA.2014.6907324en
dc.identifier.urihttp://hdl.handle.net/10754/599462en
dc.description.abstract© 2014 IEEE. Modern multi-agent systems frequently use highlevel planners to extract basic paths for agents, and then rely on local collision avoidance to ensure that the agents reach their destinations without colliding with one another or dynamic obstacles. One state-of-the-art local collision avoidance technique is Optimal Reciprocal Collision Avoidance (ORCA). Despite being fast and efficient for circular-shaped agents, ORCA may deadlock when polygonal shapes are used. To address this shortcoming, we introduce Reciprocally-Rotating Velocity Obstacles (RRVO). RRVO generalizes ORCA by introducing a notion of rotation for polygonally-shaped agents. This generalization permits more realistic motion than ORCA and does not suffer from as much deadlock. In this paper, we present the theory of RRVO and show empirically that it does not suffer from the deadlock issue ORCA has, permits agents to reach goals faster, and has a comparable collision rate at the cost of performance overhead quadratic in the (typically small) user-defined parameter δ.en
dc.description.sponsorshipThis research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by Chevron, IBM, Intel, Orale/Sun and by Award KUS-C1-016-04, made by King Abdullah University of Science and Technology (KAUST).en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleReciprocally-Rotating Velocity Obstaclesen
dc.typeConference Paperen
dc.identifier.journal2014 IEEE International Conference on Robotics and Automation (ICRA)en
dc.contributor.institutionTexas A and M University, College Station, United Statesen
kaust.grant.numberKUS-C1-016-04en
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