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

#
# CITATION.cff
# AVO2 Library
#
# SPDX-FileCopyrightText: 2010 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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# * Share -- copy and redistribute the material in any medium or format
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#   use.
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# * You do not have to comply with the license for elements of the material in
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# Please send all bug reports to <geom@cs.unc.edu>.
#
# The authors may be contacted via:
#
# Jur van den Berg, Jamie Snape, 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/AVO/>
#

---
cff-version: 1.2.0
abstract: >-
  We present an approach for collision avoidance for mobile robots that takes
  into account acceleration constraints. We discuss both the case of navigating
  a single robot among moving obstacles, and the case of multiple robots
  reciprocally avoiding collisions with each other while navigating a common
  workspace. Inspired by the concept of velocity obstacles, we introduce the
  acceleration-velocity obstacle (AVO) to let a robot avoid collisions with
  moving obstacles while obeying acceleration constraints. AVO characterizes
  the set of new velocities the robot can safely reach and adopt using
  proportional control of the acceleration. We extend this concept to
  reciprocal collision avoidance for multi-robot settings, by letting each
  robot take half of the responsibility of avoiding pairwise collisions. Our
  formulation guarantees collision-free navigation even as the robots act
  independently and simultaneously, without coordination. Our approach is
  designed for holonomic robots, but can also be applied to kinematically
  constrained non-holonomic robots such as cars. We have implemented our
  approach, and we show simulation results in challenging environments with
  large numbers of robots and obstacles.
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: 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: 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.7039600'
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 an approach for collision avoidance for mobile robots that takes
    into account acceleration constraints. We discuss both the case of
    navigating a single robot among moving obstacles, and the case of multiple
    robots reciprocally avoiding collisions with each other while navigating a
    common workspace. Inspired by the concept of velocity obstacles, we
    introduce the acceleration-velocity obstacle (AVO) to let a robot avoid
    collisions with moving obstacles while obeying acceleration constraints.
    AVO characterizes the set of new velocities the robot can safely reach and
    adopt using proportional control of the acceleration. We extend this
    concept to reciprocal collision avoidance for multi-robot settings, by
    letting each robot take half of the responsibility of avoiding pairwise
    collisions. Our formulation guarantees collision-free navigation even as
    the robots act independently and simultaneously, without coordination. Our
    approach is designed for holonomic robots, but can also be applied to
    kinematically constrained non-holonomic robots such as cars. We have
    implemented our approach, and we show simulation results in challenging
    environments with large numbers of robots and obstacles.
  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: 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: 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: >-
      Shanghai International Convention Center, 2727 Binjiang Avenue, Pudong
      New Area
    city: Shanghai
    country: CN
    date-end: '2011-05-09'
    date-start: '2011-05-13'
    name: '2011 IEEE International Conference on Robotics and Automation (ICRA)'
    post-code: 200120
  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/ICRA11042.2010'
  collection-title: >-
    Proceedings of the 2011 IEEE International Conference on Robotics and
    Automation (ICRA)
  collection-type: proceedings
  copyright: >-
    Copyright © 2011 Institute of Electrical and Electronics Engineers
  date-published: '2011-08-18'
  editors:
    - address: 'Centro di Ricerca  "E. Piaggio", Largo Lucio Lazzarino 1'
      affiliation: 'Università di Pisa'
      city: Pisa
      country: IT
      family-names: Bicchi
      given-names: Antonio
      orcid: 'https://orcid.org/0000-0001-8635-5571'
      post-code: 56122
  end: 3482
  identifiers:
    - type: doi
      value: '10.1109/ICRA.2011.5980408'
  isbn: '978-1-61284-386-5'
  issn: '1050-4729'
  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: 5
  pages: 8
  start: 3475
  title: 'Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles'
  type: 'conference-paper'
  url: 'https://gamma.cs.unc.edu/AVO/'
  year: 2011
repository-code: 'https://github.com/snape/AVO2'
title: 'Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles'
type: software
url: 'https://gamma.cs.unc.edu/AVO/'