{"id":30815412,"url":"https://github.com/snape/avo2","last_synced_at":"2025-09-06T08:13:16.496Z","repository":{"id":38285640,"uuid":"130424630","full_name":"snape/AVO2","owner":"snape","description":"Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles (C++)","archived":false,"fork":false,"pushed_at":"2025-06-22T01:58:55.000Z","size":262,"stargazers_count":68,"open_issues_count":0,"forks_count":18,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-09-04T19:45:53.150Z","etag":null,"topics":["collision-avoidance","cpp","motion-planning","robotics","velocity-obstacles","virtual-agents"],"latest_commit_sha":null,"homepage":"https://gamma.cs.unc.edu/AVO/","language":"C++","has_issues":false,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/snape.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":".github/CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":".github/CODEOWNERS","security":".github/SECURITY.md","support":".github/SUPPORT.md","governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":".zenodo.json","notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2018-04-21T00:07:15.000Z","updated_at":"2025-08-03T07:30:38.000Z","dependencies_parsed_at":"2024-05-01T03:25:38.623Z","dependency_job_id":"c62da94e-cc12-424b-bcef-adf38d27d41f","html_url":"https://github.com/snape/AVO2","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/snape/AVO2","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FAVO2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FAVO2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FAVO2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FAVO2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/snape","download_url":"https://codeload.github.com/snape/AVO2/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FAVO2/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273874160,"owners_count":25183368,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-06T02:00:13.247Z","response_time":2576,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["collision-avoidance","cpp","motion-planning","robotics","velocity-obstacles","virtual-agents"],"created_at":"2025-09-06T08:13:12.996Z","updated_at":"2025-09-06T08:13:16.474Z","avatar_url":"https://github.com/snape.png","language":"C++","readme":"\u003c!--\nREADME.md\nAVO2 Library\n\nSPDX-FileCopyrightText: 2010 University of North Carolina at Chapel Hill\nSPDX-License-Identifier: CC-BY-SA-4.0\n\nCreative Commons Attribution-ShareAlike 4.0 International Public License\n\nYou are free to:\n\n* Share — copy and redistribute the material in any medium or format\n\n* ShareAlike — If you remix, transform, or build upon the material, you must\n  distribute your contributions under the same license as the original\n\n* Adapt — remix, transform, and build upon the material for any purpose, even\n  commercially.\n\nThe licensor cannot revoke these freedoms as long as you follow the license\nterms.\n\nUnder the following terms:\n\n* Attribution — You must give appropriate credit, provide a link to the\n  license, and indicate if changes were made. You may do so in any reasonable\n  manner, but not in any way that suggests the licensor endorses you or your\n  use.\n\n* No additional restrictions — You may not apply legal terms or technological\n  measures that legally restrict others from doing anything the license\n  permits.\n\nNotices:\n\n* You do not have to comply with the license for elements of the material in\n  the public domain or where your use is permitted by an applicable exception\n  or limitation.\n\n* No warranties are given. The license may not give you all of the permissions\n  necessary for your intended use. For example, other rights such as publicity,\n  privacy, or moral rights may limit how you use the material.\n\nPlease send all bug reports to \u003cgeom@cs.unc.edu\u003e.\n\nThe authors may be contacted via:\n\nJur van den Berg, Jamie Snape, Stephen J. Guy, and Dinesh Manocha\nDept. of Computer Science\n201 S. Columbia St.\nFrederick P. Brooks, Jr. Computer Science Bldg.\nChapel Hill, N.C. 27599-3175\nUnited States of America\n\n\u003chttps://gamma.cs.unc.edu/AVO/\u003e\n--\u003e\n\nReciprocal Collision Avoidance with Acceleration-Velocity Obstacles\n===================================================================\n\n\u003chttps://gamma.cs.unc.edu/AVO/\u003e\n\n[![DOI](https://zenodo.org/badge/130424630.svg)](https://zenodo.org/badge/latestdoi/130424630)\n\nWe present an approach for collision avoidance for mobile robots that takes into\naccount acceleration constraints. We discuss both the case of navigating a\nsingle robot among moving obstacles, and the case of multiple robots\nreciprocally avoiding collisions with each other while navigating a common\nworkspace. Inspired by the concept of velocity obstacles, we introduce the\nacceleration-velocity obstacle (AVO) to let a robot avoid collisions with moving\nobstacles while obeying acceleration constraints. AVO characterizes the set of\nnew velocities the robot can safely reach and adopt using proportional control\nof the acceleration. We extend this concept to reciprocal collision avoidance\nfor multi-robot settings, by letting each robot take half of the responsibility\nof avoiding pairwise collisions. Our formulation guarantees collision-free\nnavigation even as the robots act independently and simultaneously, without\ncoordination. Our approach is designed for holonomic robots, but can also be\napplied to kinematically constrained non-holonomic robots such as cars. We have\nimplemented our approach, and we show simulation results in challenging\nenvironments with large numbers of robots and obstacles.\n\n![Build Status](https://github.com/snape/AVO2/workflows/ci/badge.svg?branch=main)\n\n\u003c!-- REUSE-IgnoreStart --\u003e\nSPDX-FileCopyrightText: 2010 University of North Carolina at Chapel Hill  \nSPDX-License-Identifier: Apache-2.0\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this file except in compliance with the License.\nYou may obtain a copy of the License at\n\n\u0026nbsp;\u0026nbsp;\u003chttps://www.apache.org/licenses/LICENSE-2.0\u003e\n\nUnless required by applicable law or agreed to in writing, software\ndistributed under the License is distributed on an \"AS IS\" BASIS,\nWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\nSee the License for the specific language governing permissions and\nlimitations under the License.\n\nPlease send all bug reports to [geom@cs.unc.edu](mailto:geom@cs.unc.edu).\n\nThe authors may be contacted via:\n\nJur van den Berg, Jamie Snape, Stephen J. Guy, and Dinesh Manocha  \nDept. of Computer Science  \n201 S. Columbia St.  \nFrederick P. Brooks, Jr. Computer Science Bldg.  \nChapel Hill, N.C. 27599-3175  \nUnited States of America\n\u003c!-- REUSE-IgnoreEnd --\u003e\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsnape%2Favo2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsnape%2Favo2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsnape%2Favo2/lists"}