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CITATION.cff
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# -*- mode: yaml; -*-
# vi: set ft=yaml:
#
# CITATION.cff
# HRVO Library
#
# SPDX-FileCopyrightText: 2009 University of North Carolina at Chapel Hill
# SPDX-License-Identifier: CC-BY-SA-4.0
#
# Creative Commons Attribution-ShareAlike 4.0 International Public License
#
# You are free to:
#
# * Share -- copy and redistribute the material in any medium or format
#
# * ShareAlike -- If you remix, transform, or build upon the material, you must
# distribute your contributions under the same license as the original
#
# * Adapt -- remix, transform, and build upon the material for any purpose, even
# commercially.
#
# The licensor cannot revoke these freedoms as long as you follow the license
# terms.
#
# Under the following terms:
#
# * Attribution -- You must give appropriate credit, provide a link to the
# license, and indicate if changes were made. You may do so in any reasonable
# manner, but not in any way that suggests the licensor endorses you or your
# use.
#
# * No additional restrictions -- You may not apply legal terms or technological
# measures that legally restrict others from doing anything the license
# permits.
#
# Notices:
#
# * You do not have to comply with the license for elements of the material in
# the public domain or where your use is permitted by an applicable exception
# or limitation.
#
# * No warranties are given. The license may not give you all of the permissions
# necessary for your intended use. For example, other rights such as
# publicity, privacy, or moral rights may limit how you use the material.
#
# Please send all bug reports to <geom@cs.unc.edu>.
#
# The authors may be contacted via:
#
# Jamie Snape, Jur van den Berg, 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/HRVO/>
#
---
cff-version: 1.2.0
abstract: >-
We present the hybrid reciprocal velocity obstacle (HRVO) for collision-free
and oscillation-free navigation of multiple mobile robots or virtual agents.
Each robot senses its surroundings and acts independently without central
coordination or communication with other robots. Our approach uses both the
current position and the velocity of other robots to compute their future
trajectories in order to avoid collisions. Moreover, our approach is
reciprocal and avoids oscillations by explicitly taking into account that the
other robots also sense their surroundings and change their trajectories
accordingly. We apply hybrid reciprocal velocity obstacles to iRobot Create
mobile robots and demonstrate direct, collision-free, and oscillation-free
navigation.
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: 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: 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: 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.7039579'
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 the hybrid reciprocal velocity obstacle (HRVO) for
collision-free and oscillation-free navigation of multiple mobile robots or
virtual agents. Each robot senses its surroundings and acts independently
without central coordination or communication with other robots. Our
approach uses both the current position and the velocity of other robots to
compute their future trajectories in order to avoid collisions. Moreover,
our approach is reciprocal and avoids oscillations by explicitly taking
into account that the other robots also sense their surroundings and change
their trajectories accordingly. We apply hybrid reciprocal velocity
obstacles to iRobot Create mobile robots and demonstrate direct,
collision-free, and oscillation-free navigation.
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: 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: 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: 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/'
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/'
copyright: >-
Copyright © 2011 Institute of Electrical and Electronics Engineers
date-published: '2011-04-07'
editors:
- address: '306 N Wright St'
affiliation: 'University of Illinois Urbana-Champaign'
city: Urbana
country: US
family-names: Hutchinson
given-names: Seth
orcid: 'https://orcid.org/0000-0002-3949-6061'
post-code: 61801
region: IL
website: 'https://research.gatech.edu/seth-hutchinson/'
end: 706
identifiers:
- type: doi
value: '10.1109/TRO.2011.2120810'
issn: '1552-3098'
issue: 4
issue-date: 'August 2011'
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
journal: 'IEEE Transactions on Robotics'
languages:
- en
month: 8
pages: 11
start: 696
title: 'The Hybrid Reciprocal Velocity Obstacle'
type: article
url: 'https://gamma.cs.unc.edu/HRVO/'
volume: 27
year: 2011
repository-code: 'https://github.com/snape/HRVO'
title: 'The Hybrid Reciprocal Velocity Obstacle'
type: software
url: 'https://gamma.cs.unc.edu/HRVO/'