An analysis of the reciprocal robots collision avoidance

Collaborative Optimal Reciprocal Collision Avoidance for Mobile Robots

“…The actions taken are individually computed for every robot on its own without communicating to other robots or central coordination. Yet ORCA makes sure that the robots are in motion without any collision [1].…”

“…Whenever an autonomous robot navigates in a dynamic surrounding, the problem of avoiding collision arises [1]. For this purpose the robot employs a continuous cycle of sensing and acting.…”