README.md
The Hybrid Reciprocal Velocity Obstacle
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<http://gamma.cs.unc.edu/HRVO/>
Copyright © 2009-2014 University of North Carolina at Chapel Hill. All
rights reserved.
[](https://travis-ci.org/HRVO/HRVO)
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
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.
Permission to use, copy, modify, and distribute this software and its
documentation for educational, non-commercial research, and non-profit purposes,
without fee, and without a written agreement is hereby granted, provided that
the above copyright notice, this paragraph, and the following four paragraphs
appear in all copies.
Permission to incorporate this software into commercial products may be obtained
by contacting the authors ([geom@cs.unc.edu](mailto:geom@cs.unc.edu)) or the
Office of Technology Development at the University of North Carolina at Chapel
Hill ([otd@unc.edu](mailto:otd@unc.edu)).
This software program and documentation are copyrighted by the University of
North Carolina at Chapel Hill. The software program and documentation are
supplied "as is," without any accompanying services from the University of North
Carolina at Chapel Hill or the authors. The University of North Carolina at
Chapel Hill and the authors do not warrant that the operation of the program
will be uninterrupted or error-free. The end-user understands that the program
was developed for research purposes and is advised not to rely exclusively on
the program for any reason.
IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS
SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT
CHAPEL HILL OR THE AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY
WARRANTY OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS"
BASIS, AND THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE
NO OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR
MODIFICATIONS.
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
