AVO2/src/AVO.h at main · snape/AVO2 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
/*
 * AVO.h
 * AVO2 Library
 *
 * SPDX-FileCopyrightText: 2010 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
 *
 *     https://www.apache.org/licenses/LICENSE-2.0
 *
 * 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>.
 *
 * The authors may be contacted via:
 *
 * Jur van den Berg, Jamie Snape, 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
 *
 * <https://gamma.cs.unc.edu/AVO/>
 */

#ifndef AVO_AVO_H_
#define AVO_AVO_H_

/**
 * @file  AVO.h
 * @brief Includes all public headers.
 */

/**
 * @namespace AVO
 * @brief     Contains all classes and functions.
 */

/**
 * @mainpage  AVO2 Library Documentation
 * @author    Jur van den Berg
 * @author    Jamie Snape
 * @author    Stephen J. Guy
 * @author    Dinesh Manocha
 * @copyright 2010 University of North Carolina at Chapel Hill.
 *
 * @details   We present an approach for collision avoidance for mobile robots
 *            that takes into account acceleration constraints. We discuss both
 *            the case of navigating a single robot among moving obstacles, and
 *            the case of multiple robots reciprocally avoiding collisions with
 *            each other while navigating a common workspace. Inspired by the
 *            concept of velocity obstacles, we introduce the
 *            acceleration-velocity obstacle to let a robot avoid collisions
 *            with moving obstacles while obeying acceleration constraints. AVO
 *            characterizes the set of new velocities the robot can safely reach
 *            and adopt using proportional control of the acceleration. We
 *            extend this concept to reciprocal collision avoidance for
 *            multi-robot settings, by letting each robot take half of the
 *            responsibility of avoiding pairwise collisions. Our formulation
 *            guarantees collision-free navigation even as the robots act
 *            independently and simultaneously, without coordination. Our
 *            approach is designed for holonomic robots, but can also be applied
 *            to kinematically constrained non-holonomic robots such as cars.
 *            We have implemented our approach, and we show simulation results
 *            in challenging environments with large numbers of robots and
 *            obstacles.
 */

// IWYU pragma: begin_exports
#include "Export.h"
#include "Line.h"
#include "Simulator.h"
#include "Vector2.h"
// IWYU pragma: end_exports

#endif  // AVO_AVO_H_