Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells

This repository contains the code for the paper:

Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
Hai Zhu, Bruno Brito, Javier Alonso-Mora
published in Autonomous Robots. You can find the full-text paper here.

If you find this code useful in your research then please cite:

@article{Zhu2022AURO,
    title = {{Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells}},
    author = {Zhu, Hai and Brito, Bruno and Alonso-Mora, Javier},
    journal = {Autonomous Robots},
    publisher = {Springer},
    year = {2022}
}

Installation instructions

The code has been tested in Ubuntu 18.04 with MATLAB R2019b.

Running simulations

• Open a MATLAB instance, and run setPath.m to add necessary paths.
• Single-integrator robots: run_si.m
• Differential-drive robots: run_dd.m