The hybrid reciprocal velocity obstacle

Jamie Snape, Jur Van Den Berg, Stephen J. Guy, Dinesh Manocha

Research output: Contribution to journalArticlepeer-review

200 Scopus citations


We present the hybrid reciprocal velocity obstacle for collision-free and oscillation-free navigation of multiple mobile robots or virtual agents. Each robot senses its surroundings and acts independently without central coordination or communication with other robots. Our approach uses both the current position and the velocity of other robots to compute their future trajectories in order to avoid collisions. Moreover, our approach is reciprocal and avoids oscillations by explicitly taking into account that the other robots sense their surroundings as well and change their trajectories accordingly. We apply hybrid reciprocal velocity obstacles to iRobot Create mobile robots and demonstrate direct, collision-free, and oscillation-free navigation.

Original languageEnglish (US)
Article number5746538
Pages (from-to)696-706
Number of pages11
JournalIEEE Transactions on Robotics
Issue number4
StatePublished - Aug 1 2011


  • Collision avoidance
  • mobile robots
  • motion planning
  • multirobot systems
  • navigation

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