The hybrid reciprocal velocity obstacle

IEEE Transactions on Robotics

Volumn 27, Issue 4, 2011, Pages 696-706

  Snape, Jamie ^a   Berg, Jur Van Den ^a   Guy, Stephen J ^a   Manocha, Dinesh ^a  

^a Brooks Computer Science Building   (United States)

Author keywords

Collision avoidance; mobile robots; motion planning; multirobot systems; navigation

Indexed keywords

MULTI-ROBOT SYSTEMS; MULTIPLE MOBILE ROBOT; VELOCITY OBSTACLES; VIRTUAL AGENT;

MOBILE AGENTS; MOBILE ROBOTS; NAVIGATION; VELOCITY;

ROBOT PROGRAMMING;

EID: 80051676165     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2120810     Document Type: Article

References (30)

1. A. Chakravarthy and D. Ghose, "Obstacle avoidance in a dynamic environment: A collision cone approach," IEEE Trans. Syst., Man, Cybern. A, Syst. Hum., vol. 28, no. 5, pp. 562-574, Sep. 1998. (Pubitemid 128748065)
2. P. Fiorini and Z. Shiller, "Motion planning in dynamic environments using velocity obstacles," Int. J. Robot. Res., vol. 17, no. 7, pp. 760-772, Jul. 1998. (Pubitemid 128556996)
3. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance," IEEE Robot. Autom. Mag., vol. 4, no. 1, pp. 23-33, Mar. 1997. (Pubitemid 127601050)
4. D. Hsu, R. Kindel, J.-C. Latombe, and S. Rock, "Randomized kinodynamicmotion planning withmoving obstacles," Int. J. Robot. Res., vol. 21, no. 3, pp. 233-255, Mar. 2002.
5. S. Petti and T. Fraichard, "Safe motion planning in dynamic environments," in Proc. IEEE RSJ Int. Conf. Intell. Robot. Syst., Edmonton, AB, Canada, Aug. 2005, pp. 2210-2215.
6. J. van den Berg, M. Lin, and D. Manocha, "Reciprocal velocity obstacles for real-time multi-agent navigation," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, May 2008, pp. 1928-1935.
7. F. Feurtey, "Simulating the collision avoidance behavior of pedestrians," Master's thesis, Dept. Elect. Eng., Univ. Tokyo, Tokyo, Japan, 2000.
8. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Autom., vol. 12, no. 4, pp. 566-580, Aug. 1996. (Pubitemid 126774162)
9. J. J. Kuffner Jr and S. M. LaValle, "RRT-connect: An efficient approach to single-query path planning," in Proc. IEEE Int. Conf. Robot. Autom., San Francisco, CA, Apr. 2000, vol. 2, pp. 995-1001.
10. L. Pallottino, V. G. Scordio, A. Bicchi, and E. Frazzoli, "Decentralized cooperative policy for conflict resolution in multivehicle systems," IEEE Trans. Robot., vol. 23, no. 6, pp. 1170-1183, Dec. 2007.
11. J.-L. Blanco, J. Gonźalez, and J.-A. Ferńandez-Madrigal, "Extending obstacle avoidance methods through multiple parameter-space transformations," Auton. Robot., vol. 24, no. 1, pp. 29-48, Jan. 2008. (Pubitemid 50003972)
12. S. Pedduri, K. M. Krishna, and H. Hexmoor, "Cooperative navigation function based navigation of multiple mobile robots," in Proc. Int. Conf. Integr. Knowl. Intensive Multi-Agent Syst.,Waltham,MA, Apr./May 2007, pp. 277-282. (Pubitemid 47432366)
13. K. E. Bekris,K. I.Tsianos, and L. E. Kavraki, "A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online," in Proc. IEEE RSJ Int. Conf. Intell. Robot. Syst., San Diego, CA, Oct./Nov. 2007, pp. 3784-3790.
14. F. Large, S. Sckhavat, Z. Shiller, and C. Laugier, "Using non-linear velocity obstacles to plan motions in a dynamic environment," in Proc. IEEE Int. Conf. Contr. Autom. Robot. Vis., Singapore, Dec. 2002, vol. 2, pp. 734-739.
15. Z. Shiller, R. Prasanna, and J. Salinger, "A unified approach to forward and lane-change collision warning for driver assistance and situational awareness," in Intelligent Vehicle Initiative (IVI) Technology Controls and Navigation Systems. Warrendale, PA: SAE Int., Apr. 2008, Paper 2008-01-0204.
16. E. Prassler, J. Scholz, and P. Fiorini, "Navigating a robotic wheelchair in a railway station during rush hour," Int. J. Robot. Res., vol. 18, no. 7, pp. 711-727, Jul. 1999.
17. P. Fiorini and D. Botturi, "Introducing service robotics to the pharmaceutical industry," Intell. Serv. Robot., vol. 1, no. 4, pp. 267-280, Oct. 2008.
18. J. S. Dittrich, F. Adolf, A. Langer, and F. Thielecke, "Mission planning for low-flying unmanned rotorcraft in uncertain environments," presented at AHS Int. Spec. Mtg. Unmanned Rotorcraft, Chandler, AZ, Jan. 2007.
19. Y. Abe and M. Yoshiki, "Collision avoidance method for multiple autonomous mobile agents by implicit cooperation," in Proc. IEEE RSJ Int. Conf. Intell. Robot. Syst., vol. 3,Maui, HI,Oct./Nov. 2001, pp. 1207-1212. (Pubitemid 34683814)
20. B. Kluge and E. Prassler, "Recursive probabilistic velocity obstacles for reflective navigation," in Field and Service Robotics: Recent Advances in Research and Applications, (Springer Tracts in Advanced Robotics, vol. 24), S. Yuta, H. Asama, S. Thrun, E. Prassler, and T. Tsubouchi, Eds. Berlin, Germany: Springer-Verlag, Jul. 2006, pp. 71-79. (Pubitemid 44430487)
21. C. Fulgenzi, A. Spalanzani, and C. Laugier, "Dynamic obstacle avoidance in uncertain environment combining PVOs and occupancy grid," in Proc. IEEE Int. Conf. Robot. Autom., Rome, Italy, Apr. 2007, pp. 1610-1616. (Pubitemid 350140412)
22. O. Gal, Z. Shiller, and E. Rimon, "Efficient and safe on-line motion planning in dynamic environments," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, May 2009, pp. 88-93.
23. S. J. Guy, J. Chhugani, C. Kim, N. Satish, M. Lin, D. Manocha, and P. Dubey, "ClearPath: Highly parallel collision avoidance for multi-agent simulation," in Proc. ACM SIGGRAPH Eurographics Symp. Comput. Animat., New Orleans, LA, Aug. 2009, pp. 177-187.
24. J. van den Berg, S. J. Guy, M. Lin, and D. Manocha, "Reciprocal n-body collision avoidance," in Robotics Research: The 14th International Symposium ISRR, (Springer Tracts in Advanced Robotics, vol. 70), C. Pradalier, R. Siegwart, and G. Hirzinger, Eds. Berlin, Germany: Springer-Verlag, Apr. 2011.
25. R. E. Kalman, "A new approach to linear filtering and prediction problems," Trans. ASME-J. Basic Eng., vol. 82, pp. 35-45, Mar. 1960.
26. G. Welch and G. Bishop, "An introduction to the Kalman filter," Dept. Comput. Sci., Univ. North Carolina Chapel Hill, Chapel Hill, NC, Tech. Rep. 95-041, 1995.
27. S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge Univ. Press, May 2006, ch. 13, pp. 590-650.
28. J. L. Jones, N. E. Mack, D. M. Nugent, and P. E. Sandin, "Autonomous floor-cleaning robot," U.S. Patent 6 883 201, Apr. 26, 2005.
29. H. Kato andM. Billinghurst, "Marker tracking and HMD calibration for a video-based augmented reality conferencing system," in Proc. IEEE ACM Int. Workshop Augment. Real., San Francisco, CA, Oct. 1999, pp. 85-94.
30. S. I. Roumeliotis and I.M. Rekleitis, "Propagation of uncertainty in cooperative multirobot localization: Analysis and experimental results," Auton. Robot., vol. 17, no. 1, pp. 41-54, Jul. 2004.