An analysis of the reciprocal robots collision avoidance

This paper, presents a formal approach that addresses the reciprocal robots collision avoidance, where two robots need to avoid collisions one with each other while moving in a common workspace. Based on our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles, we derive sufficient conditions for collision-free motion. We tested the present approach on several complex simulation scenarios involving two virtual robots and estimating collision-free actions for each of them during of the cooperative tasks. The focus of this paper is the fundamental problem of interference detection between two virtual robots and behavioral simulation of the robots for computer animation.