{"id":30815409,"url":"https://github.com/snape/hrvo","last_synced_at":"2025-09-06T08:13:15.300Z","repository":{"id":8632189,"uuid":"10278421","full_name":"snape/HRVO","owner":"snape","description":"The Hybrid Reciprocal Velocity Obstacle (C++)","archived":false,"fork":false,"pushed_at":"2025-06-22T02:04:18.000Z","size":762,"stargazers_count":141,"open_issues_count":1,"forks_count":39,"subscribers_count":15,"default_branch":"main","last_synced_at":"2025-06-22T02:43:55.444Z","etag":null,"topics":["collision-avoidance","cpp","motion-planning","robotics","velocity-obstacles","virtual-agents"],"latest_commit_sha":null,"homepage":"https://gamma.cs.unc.edu/HRVO/","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"}},"created_at":"2013-05-25T02:05:37.000Z","updated_at":"2025-06-22T02:04:21.000Z","dependencies_parsed_at":"2025-04-14T13:11:12.658Z","dependency_job_id":null,"html_url":"https://github.com/snape/HRVO","commit_stats":null,"previous_names":[],"tags_count":2,"template":false,"template_full_name":null,"purl":"pkg:github/snape/HRVO","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FHRVO","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FHRVO/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FHRVO/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FHRVO/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/snape","download_url":"https://codeload.github.com/snape/HRVO/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/snape%2FHRVO/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":"2025-09-06T08:13:11.147Z","updated_at":"2025-09-06T08:13:15.290Z","avatar_url":"https://github.com/snape.png","language":"C++","readme":"\u003c!--\nREADME.md\nHRVO Library\n\nSPDX-FileCopyrightText: 2009 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\nJamie Snape, Jur van den Berg, 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/HRVO/\u003e\n--\u003e\n\nThe Hybrid Reciprocal Velocity Obstacle\n=======================================\n\n\u003chttps://gamma.cs.unc.edu/HRVO/\u003e\n\n[![DOI](https://zenodo.org/badge/10278421.svg)](https://zenodo.org/badge/latestdoi/10278421)\n\n\nWe present the hybrid reciprocal velocity obstacle (HRVO) for collision-free and\noscillation-free navigation of multiple mobile robots or virtual agents. Each\nrobot senses its surroundings and acts independently without central\ncoordination or communication with other robots. Our approach uses both the\ncurrent position and the velocity of other robots to compute their future\ntrajectories in order to avoid collisions. Moreover, our approach is reciprocal\nand avoids oscillations by explicitly taking into account that the other robots\nalso sense their surroundings and change their trajectories accordingly. We\napply hybrid reciprocal velocity obstacles to iRobot Create mobile robots and\ndemonstrate direct, collision-free, and oscillation-free navigation.\n\n![Build Status](https://github.com/snape/HRVO/workflows/ci/badge.svg?branch=main)\n\n\u003c!-- REUSE-IgnoreStart --\u003e\nSPDX-FileCopyrightText: 2009 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\nJamie Snape, Jur van den Berg, 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%2Fhrvo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsnape%2Fhrvo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsnape%2Fhrvo/lists"}