V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles
Senthil Hariharan Arul,Dinesh Manocha,Senthil Hariharan Arul,Dinesh Manocha
We present a decentralized collision avoidance method for dense environments based on buffered Voronoi cells (BVC) and reciprocal velocity obstacles (RVO). Our approach is designed for scenarios with a large number of agents in close proximity and provides passive-friendly collision avoidance guarantees. The Voronoi cells are superimposed with RVO cones to compute a suitable direction for each age...
