Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
<|reference_start|>Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions: Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environments, they don't guarantee safety and can show overly conservative behavior in common situations. In this paper, we propose to combine a VO-strategy for guidance with a CBF-approach for safety, which overcomes the overly conservative behavior of VOs and formally guarantees safety. We validate our method in a baseline comparison study, using 2nd order integrator and car-like dynamics. Results support that our method outperforms the baselines w.r.t. path smoothness, collision avoidance, and success rates.<|reference_end|>
@article{roncero2024multi-agent,
    title={Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control
  Barrier Functions},
    author={Alejandro S'anchez Roncero, Rafael I. Cabral Muchacho and Petter
  "Ogren},
    journal={arXiv preprint arXiv:2409.10117},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.10117},
    primaryClass={cs.RO cs.MA}
}