A comparative study of velocity obstacle approaches for multi-agent systems
This paper presents a critical analysis of some of the most promising approaches aimed at geometrically generating reactive avoidance trajectories for multi-agent systems. Several evaluation scenarios are proposed that include both sensor uncertainty and increasing difficulty. An intensive 1000 cycl...
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ftleedsuniv:oai:eprints.whiterose.ac.uk:135915 2023-05-15T17:53:36+02:00 A comparative study of velocity obstacle approaches for multi-agent systems Douthwaite, J.A. Zhao, S. Mihaylova, L.S. 2018-11-01 text https://eprints.whiterose.ac.uk/135915/ https://eprints.whiterose.ac.uk/135915/1/UKACC18_0133_FI.pdf https://doi.org/10.1109/CONTROL.2018.8516848 en eng IEEE https://eprints.whiterose.ac.uk/135915/1/UKACC18_0133_FI.pdf Douthwaite, J.A. orcid.org/0000-0002-7149-0372 , Zhao, S. and Mihaylova, L.S. orcid.org/0000-0001-5856-2223 (2018) A comparative study of velocity obstacle approaches for multi-agent systems. In: Proceedings of 2018 UKACC 12th International Conference on Control (CONTROL). Control 2018: The 12th International UKACC Conference on Control, 05-07 Sep 2018, Sheffield, UK. IEEE , pp. 289-294. ISBN 978-1-5386-2864-5 Proceedings Paper PeerReviewed 2018 ftleedsuniv https://doi.org/10.1109/CONTROL.2018.8516848 2023-01-30T22:10:41Z This paper presents a critical analysis of some of the most promising approaches aimed at geometrically generating reactive avoidance trajectories for multi-agent systems. Several evaluation scenarios are proposed that include both sensor uncertainty and increasing difficulty. An intensive 1000 cycle Monte Carlo analysis is used to assess the performance of the selected algorithms under the presented conditions. The Optimal Reciprocal Collision Avoidance (ORCA) method was shown to demonstrate the most scalable computation times and collision likelihood in the presented scenarios. The respective features and limitations of the algorithms are discussed and presented through examples. Report Orca White Rose Research Online (Universities of Leeds, Sheffield & York) 2018 UKACC 12th International Conference on Control (CONTROL) 289 294 |
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White Rose Research Online (Universities of Leeds, Sheffield & York) |
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language |
English |
description |
This paper presents a critical analysis of some of the most promising approaches aimed at geometrically generating reactive avoidance trajectories for multi-agent systems. Several evaluation scenarios are proposed that include both sensor uncertainty and increasing difficulty. An intensive 1000 cycle Monte Carlo analysis is used to assess the performance of the selected algorithms under the presented conditions. The Optimal Reciprocal Collision Avoidance (ORCA) method was shown to demonstrate the most scalable computation times and collision likelihood in the presented scenarios. The respective features and limitations of the algorithms are discussed and presented through examples. |
format |
Report |
author |
Douthwaite, J.A. Zhao, S. Mihaylova, L.S. |
spellingShingle |
Douthwaite, J.A. Zhao, S. Mihaylova, L.S. A comparative study of velocity obstacle approaches for multi-agent systems |
author_facet |
Douthwaite, J.A. Zhao, S. Mihaylova, L.S. |
author_sort |
Douthwaite, J.A. |
title |
A comparative study of velocity obstacle approaches for multi-agent systems |
title_short |
A comparative study of velocity obstacle approaches for multi-agent systems |
title_full |
A comparative study of velocity obstacle approaches for multi-agent systems |
title_fullStr |
A comparative study of velocity obstacle approaches for multi-agent systems |
title_full_unstemmed |
A comparative study of velocity obstacle approaches for multi-agent systems |
title_sort |
comparative study of velocity obstacle approaches for multi-agent systems |
publisher |
IEEE |
publishDate |
2018 |
url |
https://eprints.whiterose.ac.uk/135915/ https://eprints.whiterose.ac.uk/135915/1/UKACC18_0133_FI.pdf https://doi.org/10.1109/CONTROL.2018.8516848 |
genre |
Orca |
genre_facet |
Orca |
op_relation |
https://eprints.whiterose.ac.uk/135915/1/UKACC18_0133_FI.pdf Douthwaite, J.A. orcid.org/0000-0002-7149-0372 , Zhao, S. and Mihaylova, L.S. orcid.org/0000-0001-5856-2223 (2018) A comparative study of velocity obstacle approaches for multi-agent systems. In: Proceedings of 2018 UKACC 12th International Conference on Control (CONTROL). Control 2018: The 12th International UKACC Conference on Control, 05-07 Sep 2018, Sheffield, UK. IEEE , pp. 289-294. ISBN 978-1-5386-2864-5 |
op_doi |
https://doi.org/10.1109/CONTROL.2018.8516848 |
container_title |
2018 UKACC 12th International Conference on Control (CONTROL) |
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289 |
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294 |
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1766161311809404928 |