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Reciprocal Collision Avoidance For Multiple Car-Like Robots

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), no. 1 (2012): 360-366

Cited: 116|Views47
EI

Abstract

In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collisi...More

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