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

#
# CITATION.cff
# HRVO Library
#
# SPDX-FileCopyrightText: 2009 University of North Carolina at Chapel Hill
# SPDX-License-Identifier: CC-BY-SA-4.0
#
# Creative Commons Attribution-ShareAlike 4.0 International Public License
#
# You are free to:
#
# * Share -- copy and redistribute the material in any medium or format
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# * ShareAlike -- If you remix, transform, or build upon the material, you must
#   distribute your contributions under the same license as the original
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# * Adapt -- remix, transform, and build upon the material for any purpose, even
#   commercially.
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# The licensor cannot revoke these freedoms as long as you follow the license
# terms.
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# Under the following terms:
#
# * Attribution -- You must give appropriate credit, provide a link to the
#   license, and indicate if changes were made. You may do so in any reasonable
#   manner, but not in any way that suggests the licensor endorses you or your
#   use.
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# * No additional restrictions -- You may not apply legal terms or technological
#   measures that legally restrict others from doing anything the license
#   permits.
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# Notices:
#
# * 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:
#
# Jamie Snape, Jur van den Berg, Stephen J. Guy, and 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/HRVO/>
#

---
cff-version: 1.2.0
abstract: >-
  We present the hybrid reciprocal velocity obstacle (HRVO) for collision-free
  and oscillation-free navigation of multiple mobile robots or virtual agents.
  Each robot senses its surroundings and acts independently without central
  coordination or communication with other robots. Our approach uses both the
  current position and the velocity of other robots to compute their future
  trajectories in order to avoid collisions. Moreover, our approach is
  reciprocal and avoids oscillations by explicitly taking into account that the
  other robots also sense their surroundings and change their trajectories
  accordingly. We apply hybrid reciprocal velocity obstacles to iRobot Create
  mobile robots and demonstrate direct, collision-free, and oscillation-free
  navigation.
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/'
identifiers:
  - type: doi
    value: '10.5281/zenodo.7039579'
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
  and the metadata from 'preferred-citation'.
preferred-citation:
  abstract: >-
    We present the hybrid reciprocal velocity obstacle (HRVO) for
    collision-free and oscillation-free navigation of multiple mobile robots or
    virtual agents. Each robot senses its surroundings and acts independently
    without central coordination or communication with other robots. Our
    approach uses both the current position and the velocity of other robots to
    compute their future trajectories in order to avoid collisions. Moreover,
    our approach is reciprocal and avoids oscillations by explicitly taking
    into account that the other robots also sense their surroundings and change
    their trajectories accordingly. We apply hybrid reciprocal velocity
    obstacles to iRobot Create mobile robots and demonstrate direct,
    collision-free, and oscillation-free navigation.
  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/'
  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/'
  copyright: >-
    Copyright © 2011 Institute of Electrical and Electronics Engineers
  date-published: '2011-04-07'
  editors:
    - address: '306 N Wright St'
      affiliation: 'University of Illinois Urbana-Champaign'
      city: Urbana
      country: US
      family-names: Hutchinson
      given-names: Seth
      orcid: 'https://orcid.org/0000-0002-3949-6061'
      post-code: 61801
      region: IL
      website: 'https://research.gatech.edu/seth-hutchinson/'
  end: 706
  identifiers:
    - type: doi
      value: '10.1109/TRO.2011.2120810'
  issn: '1552-3098'
  issue: 4
  issue-date: 'August 2011'
  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
  journal: 'IEEE Transactions on Robotics'
  languages:
    - en
  month: 8
  pages: 11
  start: 696
  title: 'The Hybrid Reciprocal Velocity Obstacle'
  type: article
  url: 'https://gamma.cs.unc.edu/HRVO/'
  volume: 27
  year: 2011
repository-code: 'https://github.com/snape/HRVO'
title: 'The Hybrid Reciprocal Velocity Obstacle'
type: software
url: 'https://gamma.cs.unc.edu/HRVO/'