@inproceedings{d1b1b2a3645d4159a2ffdb5ca9ed3880,
title = "Geometric methods for multi-agent collision avoidance",
abstract = "We present an approach to reciprocal collision avoidance, where multiple mobile agents must avoid collisions with each other while moving in a common workspace. Each agent acts fully independently, and does not communicate with others. Yet our approach guarantees that all agents will be collision-free for at least a fixed amount of time. Our approach provides a sufficient condition for collision-free motion. Given the agent's objective, the optimal collision-free action can be computed very efficiently, as it is the solution to a two-dimensional linear program. We show our approach on dense and complex simulation scenarios involving thousands of agents at fast real-time running times.",
keywords = "Collision avoidance, Crowd simulation, Multi-agent motion planning, Robotics, Virtual agents",
author = "Guy, {Stephen J.} and {Van Den Berg}, Jur and Lin, {Ming C.} and Dinesh Manocha",
year = "2010",
doi = "10.1145/1810959.1810981",
language = "English (US)",
isbn = "9781450300162",
series = "Proceedings of the Annual Symposium on Computational Geometry",
pages = "115--116",
booktitle = "Proceedings of the 26th Annual Symposium on Computational Geometry, SCG'10",
note = "26th Annual Symposium on Computational Geometry, SoCG 2010 ; Conference date: 13-06-2010 Through 16-06-2010",
}