Velocity Obstacle Approaches for Multi-Agent Collision Avoidance

This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches. Each approach is evaluated with respect to increasing agent populations and variable sensing assumptions. In implementing the...