Guyy, Stephen. J.Chhugani, JatinKim, ChangkyuSatish, NadathurLin, MingManocha, DineshDubey, PradeepEitan Grinspun and Jessica Hodgins2016-02-182016-02-182009978-1-60558-610-61727-5288https://doi.org/10.1145/1599470.1599494We present a new local collision avoidance algorithm between multiple agents for real-time simulations. Our approach extends the notion of velocity obstacles from robotics and formulates the conditions for collision free navigation as a quadratic optimization problem. We use a discrete optimization method to efficiently compute the motion of each agent. This resulting algorithm can be parallelized by exploiting data-parallelism and thread-level parallelism. The overall approach, ClearPath, is general and can robustly handle dense scenarios with tens or hundreds of thousands of heterogeneous agents in a few milli-seconds. As compared to prior collision avoidance algorithms, we observe more than an order of magnitude performance improvement.10.1145/1599470.1599494177-188