Cooperative Collision Avoidance for Nonholonomic Robots.

In this paper, we present a method, namely €CCA, for collision avoidance in dynamic environments among interacting agents, such as other robots or humans. Given a preferred motion by a global planner or driver, the method computes a collision-free local motion for a short time horizon, which respects the actuator constraints and allows for smooth and safe control. The method builds on the concept ...