@inproceedings{f0e764e69b424a619ad118ad774d4f49,
title = "Smooth and collision-free navigation for multiple robots under differential-drive constraints",
abstract = "We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance formulation and guarantees both smoothness in the trajectories of the robots and locally collision-free paths. We provide proofs of these guarantees and demonstrate the effectiveness of our method in experimental scenarios using iRobot Create mobile robots navigating amongst each other.",
author = "Jamie Snape and {Van Den Berg}, Jur and Guy, {Stephen J.} and Dinesh Manocha",
year = "2010",
doi = "10.1109/IROS.2010.5652073",
language = "English (US)",
isbn = "9781424466757",
series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
pages = "4584--4589",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
note = "23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",
}
