Dr. Javier Alonso-Mora, Assistant Professor

Autonomous Multi-Robots Lab. Delft University of Technology

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Reactive Collision Avoidance

We have developed a method, namely eCCA, for collision avoidance in dynamic environments among interacting agents, such as other robots or humans. The method builds on the concept of reciprocal velocity obstacles and extends it to respect the kinodynamic constraints of the robot and account for a grid-based map representation of the environment. The method is best suited for large multi-robot settings, including heterogeneous teams of robots, in which computational complexity is of paramount importance and the robots interact with one another. In particular, we consider a set of motion primitives for the robot and solve an optimization in the space of control velocities with additional constraints. Additionally, we propose a cooperative approach to compute safe velocity partitions in the distributed case. We describe several instances of the method for distributed and centralized operation and formulated both as convex and non-convex optimizations. We compare the different variants and describe the benefits and trade-offs both theoretically and in extensive experiments with various robotic platforms: robotic wheelchairs, robotic boats, humanoid robots, small unicycle robots, and simulated cars.


Cooperative Collision Avoidance for Nonholonomic Robots
J. Alonso-Mora, P. Beardsley and R. Siegwart
IEEE Transactions on Robotics, vol. 34, no. 2, pp. 404-420, Apr. 2018.
[PDF] [video]

Collision Avoidance for Aerial Vehicles in Multi-Agent Scenarios
J. Alonso-Mora, T. Naegeli, R. Siegwart, P. Beardsley
Autonomous Robots, vol. 39, no. 1, pp. 101–121, Jun. 2015.
[PDF], [video]

Reciprocal Collision Avoidance with Motion Continuity Constraints
M. Rufli, J. Alonso-Mora, R. Siegwart
IEEE Transactions on Robotics, vol. 29, no. 4, pp. 899-912, Aug. 2013.
[PDF]

Shared Control of Autonomous Vehicles based on Velocity Space Optimization
J. Alonso-Mora, P. Gohl, S. Watson, R. Siegwart, P. Beardsley
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2014.
[PDF]

Collision Avoidance for Multiple Agents with Joint Utility Maximization
J. Alonso-Mora, M. Rufli, R. Siegwart, P. Beardsley
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2013.
[PDF] [video]

Reciprocal Collision Avoidance for Multiple Car-like Robots
J. Alonso-Mora, A. Breitenmoser, P. Beardsley, R. Siegwart
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2012.
[PDF] [video]

Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
J. Alonso-Mora, A. Breitenmoser, M. Rufli, P. Beardsley, R. Siegwart
Proc. of the Int. Symp. on Distributed Autonomous Robotics Systems (DARS), Oct. 2010.
[PDF] [video] Nominated Best Student Paper Award