https://github.com/snape/rvo2-3d

Optimal Reciprocal Collision Avoidance in Three Dimensions (C++)
https://github.com/snape/rvo2-3d

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

Last synced: 28 days ago
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Optimal Reciprocal Collision Avoidance in Three Dimensions (C++)

• Host: GitHub
• URL: https://github.com/snape/rvo2-3d
• Owner: snape
• License: apache-2.0
• Created: 2013-06-26T01:38:14.000Z (over 12 years ago)
• Default Branch: main
• Last Pushed: 2025-09-01T11:49:50.000Z (about 1 month ago)
• Last Synced: 2025-09-01T13:35:42.435Z (about 1 month ago)
• Topics: collision-avoidance, cpp, motion-planning, robotics, velocity-obstacles, virtual-agents
• Language: C++
• Homepage: https://gamma.cs.unc.edu/RVO2/
• Size: 203 KB
• Stars: 280
• Watchers: 11
• Forks: 66
• Open Issues: 7
• 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

          


Optimal Reciprocal Collision Avoidance in Three Dimensions

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

[![DOI](https://zenodo.org/badge/10955299.svg)](https://zenodo.org/badge/latestdoi/10955299)

We present a formal approach to reciprocal collision avoidance, where multiple

independent mobile robots or agents need to avoid collisions with each other

without communication among agents while moving in a common workspace. Our

formulation, optimal reciprocal collision avoidance (ORCA), provides sufficient

conditions for collision-free motion by letting each agent take half of the

responsibility of avoiding pairwise collisions. Selecting the optimal action for

each agent is reduced to solving a low-dimensional linear program, and we prove

that the resulting motions are smooth. We test our optimal reciprocal collision

avoidance approach on several dense and complex simulation scenarios workspaces

involving thousands of agents, and compute collision-free actions for all of

them in only a few milliseconds.

RVO2-3D Library is an open-source C++98 implementation of our algorithm in three

dimensions. It has a simple API for third-party applications. The user specifies

agents and their preferred velocities. The simulation is performed step-by-step

via a simple call to the library. The simulation is fully accessible and

manipulable during runtime. The library exploits multiple processors if they are

available using OpenMP for efficient parallelization of the simulation.

![Build Status](https://github.com/snape/RVO2-3D/workflows/ci/badge.svg?branch=main)

SPDX-FileCopyrightText: 2008 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:

Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, 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