Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
This repository contains the code for the paper:
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
Hai Zhu,
Bruno Brito, Javier Alonso-Mora
published in Autonomous Robots. You can find the full-text paper here.
If you find this code useful in your research then please cite:
@article{Zhu2022AURO,
title = {{Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells}},
author = {Zhu, Hai and Brito, Bruno and Alonso-Mora, Javier},
journal = {Autonomous Robots},
publisher = {Springer},
year = {2022}
}
Installation instructions
The code has been tested in Ubuntu 18.04 with MATLAB R2019b.
Running simulations
- Open a MATLAB instance, and run
setPath.m
to add necessary paths. - Single-integrator robots:
run_si.m
- Differential-drive robots:
run_dd.m