Deadlock Prediction and Recovery for Distributed Collision Avoidance with Buffered Voronoi Cells
Mohammed Abdullhak,Andrew Vardy,Mohammed Abdullhak,Andrew Vardy
This paper introduces a distributed multi-robot collision avoidance algorithm based on the concept of Buffered Voronoi Cells (BVC). We propose a novel algorithm for avoiding deadlocks consisting of three stages: deadlock prediction, deadlock recovery, and deadlock recovery success prediction. Simple heuristics (such as the right-hand rule) are often used to avoid deadlocks. Such heuristics might r...
