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 ([email protected])
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/

References:
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.