Research paper
Priority-weighted Voronoi cells for agent separation
Weighted buffered cells let agents take different priorities while maintaining a geometric buffer. The author project proves collision avoidance when initially separated agents keep their actions inside their cells, and evaluates a simulated position-swapping game.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Weighted Buffered Voronoi Cells for Distributed Semi-Cooperative Behavior
- Publisher
- IEEE
- Authors
- Alyssa Pierson, Wilko Schwarting, Sertac Karaman, Daniela Rus
- DOI
- 10.1109/icra40945.2020.9196686
- Conference date
- 2020-05
- Source language
- en
- Source country
- US
- Edition
- 2020 IEEE International Conference on Robotics and Automation (ICRA)
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Weighted buffered cells let agents take different priorities while maintaining a geometric buffer. The author project proves collision avoidance when initially separated agents keep their actions inside their cells, and evaluates a simulated position-swapping game.
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
Weighted Buffered Voronoi Cells for Distributed Semi-Cooperative Behavior ↗
IEEE · 2020 IEEE International Conference on Robotics and Automation (ICRA)
Author project title/authors/abstract/ICRA2020identity checked. Simulation only; initial separation and cell compliance are explicit.