Wenjie Na

Relaxing the Limitations of the Optimal Reciprocal Collision Avoidance Algorithm for Mobile Robots in Crowds

The Optimal Reciprocal Collision Avoidance (ORCA) algorithm is widely used for modeling agents in collision avoidance scenarios. However, suffering from limitations such as the improper reciprocal assumption that each agent is supposed to take half the responsibility for collision avoidance, the per