{"id":"https://openalex.org/W3139047046","doi":"https://doi.org/10.1109/lra.2021.3067851","title":"VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance","display_name":"VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance","publication_year":2021,"publication_date":"2021-03-23","ids":{"openalex":"https://openalex.org/W3139047046","doi":"https://doi.org/10.1109/lra.2021.3067851","mag":"3139047046"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3067851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067851","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034310783","display_name":"Ke Guo","orcid":"https://orcid.org/0000-0002-0056-7141"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Ke Guo","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019585260","display_name":"Dawei Wang","orcid":"https://orcid.org/0000-0003-2440-220X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dawei Wang","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054924375","display_name":"Tingxiang Fan","orcid":"https://orcid.org/0009-0005-6314-2596"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tingxiang Fan","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["Department of Computer Science, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034310783"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.3011,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.93549117,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"4520","last_page":"4527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9740999937057495,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8617780208587646},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.8136323690414429},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6933975219726562},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6420209407806396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5623041987419128},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4717990458011627},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4488056004047394},{"id":"https://openalex.org/keywords/crowd-simulation","display_name":"Crowd simulation","score":0.43721917271614075},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34230613708496094},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.245448499917984},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19769331812858582}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8617780208587646},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.8136323690414429},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6933975219726562},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6420209407806396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5623041987419128},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4717990458011627},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4488056004047394},{"id":"https://openalex.org/C45617602","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Crowd simulation","level":3,"score":0.43721917271614075},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34230613708496094},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.245448499917984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19769331812858582},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3067851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067851","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W50965381","https://openalex.org/W125001008","https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1486903288","https://openalex.org/W1965760189","https://openalex.org/W1990987064","https://openalex.org/W2002440441","https://openalex.org/W2028415715","https://openalex.org/W2068796584","https://openalex.org/W2096447271","https://openalex.org/W2097639646","https://openalex.org/W2098508993","https://openalex.org/W2142943472","https://openalex.org/W2144583323","https://openalex.org/W2158400962","https://openalex.org/W2269007220","https://openalex.org/W2507578125","https://openalex.org/W2766548233","https://openalex.org/W2783094580","https://openalex.org/W2886266571","https://openalex.org/W2891537759","https://openalex.org/W2948397640","https://openalex.org/W2964136016","https://openalex.org/W2972504315","https://openalex.org/W3005943728","https://openalex.org/W3031798691","https://openalex.org/W3043401040","https://openalex.org/W4250589301","https://openalex.org/W6602072048","https://openalex.org/W6674536200","https://openalex.org/W6681088732","https://openalex.org/W6693371333","https://openalex.org/W6763139503"],"related_works":["https://openalex.org/W2391753177","https://openalex.org/W2996284460","https://openalex.org/W1966306316","https://openalex.org/W2280250567","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3042530408","https://openalex.org/W2116307148","https://openalex.org/W2172235251","https://openalex.org/W2058295955"],"abstract_inverted_index":{"As":[0],"one":[1],"of":[2,82,85,98,123,145],"the":[3,10,23,31,50,61,72,80,92,127,138],"most":[4],"popular":[5],"multi-agent":[6],"path":[7],"planning":[8],"approaches,":[9],"optimal":[11,64],"reciprocal":[12,65],"collision":[13,26,46,66,139],"avoidance":[14,47,67],"(ORCA)":[15],"algorithm":[16],"assumes":[17],"that":[18,130],"each":[19,105],"agent":[20,106],"takes":[21],"half":[22],"responsibility":[24,63,93],"for":[25,45,104],"avoidance.":[27],"However,":[28],"due":[29],"to":[30,41,48,88],"asymmetric":[32],"situation":[33],"faced":[34],"by":[35,107],"adjacent":[36],"agents,":[37],"they":[38],"are":[39],"expected":[40],"take":[42],"different":[43],"responsibilities":[44,81],"improve":[49],"entire":[51],"crowd's":[52],"navigation":[53],"performance.":[54],"Thus,":[55],"in":[56,75,136],"this":[57],"letter,":[58],"we":[59],"propose":[60],"variable":[62],"(VR-ORCA)":[68],"algorithm,":[69],"which":[70],"relaxes":[71],"original":[73],"assumption":[74],"ORCA":[76],"and":[77,126,143],"only":[78],"requires":[79],"a":[83,96,109,121],"pair":[84,97],"agents":[86,100],"sum":[87],"one.":[89],"In":[90],"particular,":[91],"division":[94],"between":[95],"nearby":[99],"is":[101,134],"determined":[102],"independently":[103],"minimizing":[108],"cost":[110],"function":[111],"involving":[112],"their":[113],"common":[114],"neighbors.":[115],"We":[116],"validate":[117],"our":[118,131],"approach":[119],"on":[120],"variety":[122],"simulated":[124],"benchmarks":[125],"results":[128],"demonstrate":[129],"novel":[132],"method":[133],"beneficial":[135],"reducing":[137],"probability,":[140],"travel":[141],"time":[142],"distance":[144],"ORCA.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}