Generalized WarpDriver: Unified Collision Avoidance for Multi-Robot Systems in Arbitrarily Complex Environments

Abstract

In this paper we present a unified collisionavoidance algorithm for the navigation of arbitrary agents, from pedestrians to various types of robots, including vehicles. This approach significantly extends the WarpDriver algorithm crowds) to a wide array of robots in the following ways: (1) the new algorithm is more robust by unifiying the original set of Warp Operators for different nonlinear extrapolations of motion into a single, general operator;