# -*- mode: yaml; -*-
# vi: set ft=yaml:

#
# CITATION.cff
# RVO2 Library Java
#
# SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
# SPDX-License-Identifier: CC-BY-SA-4.0
#
# Creative Commons Attribution-ShareAlike 4.0 International Public License
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#   use.
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#   measures that legally restrict others from doing anything the license
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# Notices:
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# * You do not have to comply with the license for elements of the material in
#   the public domain or where your use is permitted by an applicable exception
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# * No warranties are given. The license may not give you all of the permissions
#   necessary for your intended use. For example, other rights such as
#   publicity, privacy, or moral rights may limit how you use the material.
#
# Please send all bug reports to <geom@cs.unc.edu>.
#
# The authors may be contacted via:
#
# Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
# Dept. of Computer Science
# 201 S. Columbia St.
# Frederick P. Brooks, Jr. Computer Science Bldg.
# Chapel Hill, N.C. 27599-3175
# United States of America
#
# <https://gamma.cs.unc.edu/RVO2/>
#

---
cff-version: 1.2.0
abstract: >-
  We present a formal approach to reciprocal collision avoidance, where
  multiple independent mobile robots or agents need to avoid collisions with
  each other without communication among agents while moving in a common
  workspace. Our formulation, optimal reciprocal collision avoidance (ORCA),
  provides sufficient conditions for collision-free motion by letting each
  agent take half of the responsibility of avoiding pairwise collisions.
  Selecting the optimal action for each agent is reduced to solving a
  low-dimensional linear program, and we prove that the resulting motions are
  smooth. We test our optimal reciprocal collision avoidance approach on
  several dense and complex simulation scenarios workspaces involving thousands
  of agents, and compute collision-free actions for all of them in only a few
  milliseconds.

  RVO2 Library Java is an open-source Java 8 implementation of our algorithm in
  two dimensions. It has a simple API for third-party applications. The user
  specifies static obstacles, agents, and the preferred velocities of the
  agents. The simulation is performed step-by-step via a simple call to the
  library. The simulation is fully accessible and manipulable during runtime.
authors:
  - address: >-
      201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
    affiliation: 'University of North Carolina at Chapel Hill'
    city: 'Chapel Hill'
    country: US
    family-names: Berg
    given-names: Jur
    name-particle: 'van den'
    post-code: 27599
    region: NC
  - address: >-
      201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
    affiliation: 'University of North Carolina at Chapel Hill'
    city: 'Chapel Hill'
    country: US
    family-names: Guy
    given-names: 'Stephen J.'
    orcid: 'https://orcid.org/0000-0001-8986-5817'
    post-code: 27599
    region: NC
    website: 'https://www-users.cse.umn.edu/~sjguy/'
  - address: >-
      201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
    affiliation: 'University of North Carolina at Chapel Hill'
    city: 'Chapel Hill'
    country: US
    family-names: Snape
    given-names: Jamie
    orcid: 'https://orcid.org/0000-0002-3326-9765'
    post-code: 27599
    region: NC
    website: 'https://www.jamiesnape.io/'
  - address: >-
      201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
    affiliation: 'University of North Carolina at Chapel Hill'
    city: 'Chapel Hill'
    country: US
    family-names: Lin
    given-names: 'Ming C.'
    orcid: 'https://orcid.org/0000-0003-3736-6949'
    post-code: 27599
    region: NC
    website: 'https://www.cs.umd.edu/people/lin/'
  - address: >-
      201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
    affiliation: 'University of North Carolina at Chapel Hill'
    city: 'Chapel Hill'
    country: US
    family-names: Manocha
    given-names: Dinesh
    orcid: 'https://orcid.org/0000-0001-7047-9801'
    post-code: 27599
    region: NC
    website: 'https://www.cs.umd.edu/people/dmanocha/'
identifiers:
  - type: doi
    value: '10.5281/zenodo.7039673'
keywords:
  - 'collision avoidance'
  - 'mobile robots'
  - 'motion planning'
  - 'multi-robot systems'
  - navigation
license: 'Apache-2.0'
message: >-
  If you use this software, please cite it using the metadata from this file.
references:
  - abstract: >-
      We present a formal approach to reciprocal collision avoidance, where
      multiple independent mobile robots or agents need to avoid collisions
      with each other without communication among agents while moving in a
      common workspace. Our formulation, optimal reciprocal collision avoidance
      (ORCA), provides sufficient conditions for collision-free motion by
      letting each agent take half of the responsibility of avoiding pairwise
      collisions. Selecting the optimal action for each agent is reduced to
      solving a low-dimensional linear program, and we prove that the resulting
      motions are smooth. We test our optimal reciprocal collision avoidance
      approach on several dense and complex simulation scenarios workspaces
      involving thousands of agents, and compute collision-free actions for all
      of them in only a few milliseconds.
    authors:
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Berg
        given-names: Jur
        name-particle: 'van den'
        post-code: 27599
        region: NC
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Guy
        given-names: 'Stephen J.'
        orcid: 'https://orcid.org/0000-0001-8986-5817'
        post-code: 27599
        region: NC
        website: 'https://www-users.cse.umn.edu/~sjguy/'
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Lin
        given-names: 'Ming C.'
        orcid: 'https://orcid.org/0000-0003-3736-6949'
        post-code: 27599
        region: NC
        website: 'https://www.cs.umd.edu/people/lin/'
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Manocha
        given-names: Dinesh
        orcid: 'https://orcid.org/0000-0001-7047-9801'
        post-code: 27599
        region: NC
        website: 'https://www.cs.umd.edu/people/dmanocha/'
    conference:
      address: 'Hotel Astoria, Pilatusstrasse 29'
      city: Lucerne
      country: CH
      date-end: '2009-09-03'
      date-start: '2009-08-31'
      name: '14th International Symposium of Robotics Research (ISRR)'
      post-code: 6002
    contact:
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Guy
        given-names: 'Stephen J.'
        orcid: 'https://orcid.org/0000-0001-8986-5817'
        post-code: 27599
        region: NC
        website: 'https://www-users.cse.umn.edu/~sjguy/'
    collection-doi: '10.1007/978-3-642-19457-3'
    collection-title: >-
      Robotics Research: The 14th International Symposium ISRR
    collection-type: proceedings
    copyright: >-
      Copyright © 2011 Springer Verlag
    editors:
      - address: >-
          Institute of Robotics and Intelligent Systems (IRIS), Autonomous
          Systems Lab, Leonhardstrasse 21
        affiliation: ETH Zürich
        city: Zürich
        country: CH
        family-names: Pradalier
        given-names: Cédric
        orcid: 'https://orcid.org/0000-0002-1746-2733'
        post-code: 8092
      - address: >-
          Institute of Robotics and Intelligent Systems (IRIS), Autonomous
          Systems Lab, Leonhardstrasse 21
        affiliation: ETH Zürich
        city: Zürich
        country: CH
        family-names: Siegwart
        given-names: Roland
        orcid: 'https://orcid.org/0000-0002-2760-7983'
        post-code: 8092
      - address: >-
          Deutsches Zentrum für Luft und Raumfahrt (DLR), Institut für Robotik
          und Mechatronik, Münchener Straße 20
        affiliation: German Aerospace Center
        city: 'Oberpfaffenhofen-Weßling'
        country: DE
        family-names: Hirzinger
        given-names: Gerhard
        post-code: 82234
    end: 19
    identifiers:
      - type: doi
        value: '10.1007/978-3-642-19457-3_1'
    isbn: '978-3-642-19456-6'
    keywords:
      - 'collision avoidance'
      - 'mobile robots'
      - 'motion planning'
      - 'multi-robot systems'
      - navigation
    publisher:
      address: 'Tiergartenstraße 17'
      city: Heidelberg
      country: DE
      name: 'Springer Verlag'
      post-code: 69121
    languages:
      - en
    month: 5
    pages: 17
    start: 3
    title: 'Reciprocal n-body collision avoidance'
    type: 'conference-paper'
    url: 'https://gamma.cs.unc.edu/ORCA/'
    volume: 70
    year: 2011
  - abstract: >-
      We present a method for smooth and collision-free navigation for multiple
      independent robots under differential-drive constraints. Our algorithm is
      based on the optimal reciprocal collision avoidance (ORCA) formulation
      and guarantees both smoothness in the trajectories of the robots and
      locally collision-free paths. We provide proofs of these guarantees and
      demonstrate the effectiveness of our method in experimental scenarios
      using iRobot Create mobile robots navigating amongst each other.
    authors:
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Snape
        given-names: Jamie
        orcid: 'https://orcid.org/0000-0002-3326-9765'
        post-code: 27599
        region: NC
        website: 'https://www.jamiesnape.io/'
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Berg
        given-names: Jur
        name-particle: 'van den'
        post-code: 27599
        region: NC
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Guy
        given-names: 'Stephen J.'
        orcid: 'https://orcid.org/0000-0001-8986-5817'
        post-code: 27599
        region: NC
        website: 'https://www-users.cse.umn.edu/~sjguy/'
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Manocha
        given-names: Dinesh
        orcid: 'https://orcid.org/0000-0001-7047-9801'
        post-code: 27599
        region: NC
        website: 'https://www.cs.umd.edu/people/dmanocha/'
    conference:
      address: >-
        Taipei International Convention Center (TICC), 1 Hsin-Yi Rd, Sec 5
      city: 'Taipei City'
      country: TW
      date-end: '2010-10-22'
      date-start: '2010-10-18'
      name: >-
        2010 IEEE/RSJ International Conference on Intelligent Robots and
        Systems (IROS)
      post-code: 11049
    contact:
      - address: >-
          201 S Columbia St, Frederick P. Brooks, Jr. Computer Science Bldg
        affiliation: 'University of North Carolina at Chapel Hill'
        city: 'Chapel Hill'
        country: US
        family-names: Snape
        given-names: Jamie
        orcid: 'https://orcid.org/0000-0002-3326-9765'
        post-code: 27599
        region: NC
        website: 'https://www.jamiesnape.io/'
    collection-doi: '10.1109/IROS15713.2010'
    collection-title: >-
      Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent
      Robots and Systems (IROS)
    collection-type: proceedings
    copyright: >-
      Copyright © 2010 Institute of Electrical and Electronics Engineers
    date-published: '2010-12-03'
    end: 4589
    identifiers:
      - type: doi
        value: '10.1109/IROS.2010.5652073'
    isbn: '978-1-4244-6674-0'
    issn: '2153-0858'
    keywords:
      - 'collision avoidance'
      - 'mobile robots'
      - 'motion planning'
      - 'multi-robot systems'
      - navigation
    publisher:
      address: '3 Park Ave 17th Fl'
      city: 'New York'
      country: US
      name: 'Institute of Electrical and Electronics Engineers'
      post-code: 10016
      region: NY
    languages:
      - en
    month: 10
    pages: 6
    start: 4584
    title: >-
      Smooth and collision-free navigation for multiple robots under
      differential-drive constraints
    type: 'conference-paper'
    url: 'https://gamma.cs.unc.edu/ORCA-DD/'
    year: 2010
repository-code: 'https://github.com/snape/RVO2-Java'
title: 'Optimal Reciprocal Collision Avoidance for Java'
type: software
url: 'https://gamma.cs.unc.edu/RVO2/'