https://github.com/snape/hrvo

The Hybrid Reciprocal Velocity Obstacle (C++)
https://github.com/snape/hrvo

collision-avoidance cpp motion-planning robotics velocity-obstacles virtual-agents

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The Hybrid Reciprocal Velocity Obstacle (C++)

• Host: GitHub
• URL: https://github.com/snape/hrvo
• Owner: snape
• License: apache-2.0
• Created: 2013-05-25T02:05:37.000Z (over 12 years ago)
• Default Branch: main
• Last Pushed: 2025-06-22T02:04:18.000Z (4 months ago)
• Last Synced: 2025-06-22T02:43:55.444Z (4 months ago)
• Topics: collision-avoidance, cpp, motion-planning, robotics, velocity-obstacles, virtual-agents
• Language: C++
• Homepage: https://gamma.cs.unc.edu/HRVO/
• Size: 744 KB
• Stars: 141
• Watchers: 15
• Forks: 39
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Code of conduct: .github/CODE_OF_CONDUCT.md
  • Citation: CITATION.cff
  • Codeowners: .github/CODEOWNERS
  • Security: .github/SECURITY.md
  • Support: .github/SUPPORT.md
  • Zenodo: .zenodo.json

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README

          


The Hybrid Reciprocal Velocity Obstacle

=======================================

[![DOI](https://zenodo.org/badge/10278421.svg)](https://zenodo.org/badge/latestdoi/10278421)

We present the hybrid reciprocal velocity obstacle (HRVO) 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

also sense their surroundings 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.

![Build Status](https://github.com/snape/HRVO/workflows/ci/badge.svg?branch=main)

SPDX-FileCopyrightText: 2009 University of North Carolina at Chapel Hill  

SPDX-License-Identifier: Apache-2.0

Licensed under the Apache License, Version 2.0 (the "License");

you may not use this file except in compliance with the License.

You may obtain a copy of the License at

  

Unless required by applicable law or agreed to in writing, software

distributed under the License is distributed on an "AS IS" BASIS,

WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

See the License for the specific language governing permissions and

limitations under the License.

Please send all bug reports to [geom@cs.unc.edu](mailto:geom@cs.unc.edu).

The authors may be contacted via:

Jamie Snape, Jur van den Berg, Stephen J. Guy, and Dinesh Manocha  

Dept. of Computer Science  

201 S. Columbia St.  

Frederick P. Brooks, Jr. Computer Science Bldg.  

Chapel Hill, N.C. 27599-3175  

United States of America