Research paper
Reciprocal velocity obstacles for many moving agents
Reciprocal Velocity Obstacles account for the other agents’ expected avoidance reactions without explicit communication. The author project demonstrates scalable navigation of hundreds of agents and analyzes oscillation-free collision avoidance under reciprocal behavior.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Reciprocal Velocity Obstacles for real-time multi-agent navigation
- Publisher
- IEEE
- Authors
- Jur van den Berg, Ming Lin, Dinesh Manocha
- DOI
- 10.1109/robot.2008.4543489
- Conference date
- 2008-05
- Source language
- en
- Source country
- US
- Edition
- 2008 IEEE International Conference on Robotics and Automation
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Reciprocal Velocity Obstacles account for the other agents’ expected avoidance reactions without explicit communication. The author project demonstrates scalable navigation of hundreds of agents and analyzes oscillation-free collision avoidance under reciprocal behavior.
Use and review
The guarantee assumes compatible collision-avoidance behavior by other agents and the modeled geometry/motion. It does not cover arbitrary human actions, sensor failures or certified protective separation.
Sources & editions
Reciprocal Velocity Obstacles for real-time multi-agent navigation ↗
IEEE · 2008 IEEE International Conference on Robotics and Automation
Primary author-project abstract/authors/ICRA2008identity checked; simulation demonstration and library, not physical human-protection deployment.