Reciprocal n-body Collision Avoidance
Reciprocal n-body Collision Avoidance Jur van den Berg, Stephen J. Guy, Ming Lin, and Dinesh Manocha Abstract In this paper,we present a formal approachto reciprocal n-bodycollision avoidance, where multiple mobile robots need to avoid collisions with each other while movingin a commonworkspace.In our formulation,each robotacts fully in-
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