Geometric methods for multi-agent collision avoidance

  • Authors:

  • Stephen J. Guy;Jur van den Berg;Ming C. Lin;Dinesh Manocha

  • Affiliations:

  • University of North Carolina at Chapel Hill, Chapel Hill, NC, USA;University of California at Berkeley, Berkeley, CA, USA;University of North Carolina at Chapel Hill, Chapel Hill, NC, USA;University of North Carolina at Chapel Hill, Chapel Hill, NC, USA

  • Venue:
  • Proceedings of the twenty-sixth annual symposium on Computational geometry
  • Year:
  • 2010

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Abstract

We present an approach to reciprocal collision avoidance, where multiple mobile agents must avoid collisions with each other while moving in a common workspace. Each agent acts fully independently, and does not communicate with others. Yet our approach guarantees that all agents will be collision-free for at least a fixed amount of time. Our approach provides a sufficient condition for collision-free motion. Given the agent's objective, the optimal collision-free action can be computed very efficiently, as it is the solution to a two-dimensional linear program. We show our approach on dense and complex simulation scenarios involving thousands of agents at fast real-time running times.