Multi-UAV Reciprocal Avoidance

Decentralized autonomous navigation and collision avoidance for multiple UAVs in shared space using RVO algorithm.

Real-World Applications

Simulation Fundamentals: All robotics simulation software (Gazebo, Webots, CoppeliaSim) are based on world coordinate systems. This is the starting point for digital twins and virtual debugging.

Experiment Steps

1. Initial Distribution: UAVs distributed on a circle, targets on the opposite side
2. RVO Avoidance: Observe real-time velocity adaptation to avoid collisions
3. Convergence: All UAVs reach their respective goals

Simulation Experiment

Functions: models.planning.rvoBehavior, models.robotics.quadrotorUpdate, models.planning.checkRobotRobotCollision, models.robotics.goalReached, models.sensing.generateCircleDistribution