VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance

As one of the most popular multi-agent path planning approaches, the optimal reciprocal collision avoidance (ORCA) algorithm assumes that each agent takes half the responsibility for collision avoidance. However, due to the asymmetric situation faced by adjacent agents, they are expected to take different responsibilities for collision avoidance to improve the entire crowd's navigation performance...