Interactive simulation of a Collision Avoidance Algorithm with Deadlock Prediction and Recovery Based on Buffered Voronoi Cells.

Simulation of a distributed multi-robot collision avoidance algorithm based on the concept of Buffered Voronoi Cells (BVC)*.
An algorithm for deadlock prediction, deadlock recovery, and deadlock recovery success prediction is proposed and implemented.
Deadlock avoidance with right-hand heuristics is also implemented for comparison.

Developed by:

Mohammed Abdullhak (m_abdulhak@outlook.com)
Bio-inspired Robotics Lab (BOTS)
http://bots.cs.mun.ca/
Memorial University of Newfoundland

Soure code: https://github.com/m-abdulhak/Buffered-Voronoi-Cell-Deadlock-Avoidance

Demo: https://m-abdulhak.github.io/Buffered-Voronoi-Cell-Deadlock-Avoidance/

This algorithm amd many more are available in SwarmJS, code available here.

References:
Abdullhak, Mohammed, and Andrew Vardy. "Deadlock prediction and recovery for distributed collision avoidance with buffered voronoi cells." 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.

D. Zhou, Z. Wang, S. Bandyopadhyay and M. Schwager, "Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells," in IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 1047-1054, April 2017, doi: 10.1109/LRA.2017.2656241.