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Volume 15
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10.3390/robotics15040072
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots

by
Diego Martinez-Baselga
1,2,*,
Diego Lanaspa
1,
Luis Riazuelo
1 and
Luis Montano
1
1
Institute of Engineering Research (I3A), University of Zaragoza, 50018 Zaragoza, Spain
2
Department of Cognitive Robotics, Delft University of Technology, 2628CD Delft, The Netherlands
*
Author to whom correspondence should be addressed.
Robotics 2026, 15(4), 72; https://doi.org/10.3390/robotics15040072
Submission received: 11 February 2026 / Revised: 17 March 2026 / Accepted: 26 March 2026 / Published: 30 March 2026
(This article belongs to the Section AI in Robotics)
Versions Notes

Abstract

Efficient navigation in crowded and dynamic environments is crucial for robot integration into human spaces. AVOCADO (AdaptiVe Optimal Collision Avoidance Driven by Opinion) generates collision-free velocities using Velocity Obstacles and adaptation to the cooperation estimation among agents. However, it assumes holonomic motion and cannot handle non-holonomic constraints, such as those of differential-drive robots. We propose DD-AVOCADO, an extension of AVOCADO that incorporates differential-drive kinematics to compute feasible and safe velocities. The method combines AVOCADO-based planning with a non-holonomic controller and accounts for tracking errors to avoid collisions. Simulation results across diverse scenarios show a significant reduction in collisions and efficient navigation in scenarios with cooperative and non-cooperative agents, and hardware experiments demonstrate its applicability in robot platforms. The method has the potential to be applied to other dynamic models.
Keywords: collision avoidance; motion and path planning; multi-robot systems collision avoidance; motion and path planning; multi-robot systems

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MDPI and ACS Style

Martinez-Baselga, D.; Lanaspa, D.; Riazuelo, L.; Montano, L. Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots. Robotics 2026, 15, 72. https://doi.org/10.3390/robotics15040072

AMA Style

Martinez-Baselga D, Lanaspa D, Riazuelo L, Montano L. Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots. Robotics. 2026; 15(4):72. https://doi.org/10.3390/robotics15040072

Chicago/Turabian Style

Martinez-Baselga, Diego, Diego Lanaspa, Luis Riazuelo, and Luis Montano. 2026. "Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots" Robotics 15, no. 4: 72. https://doi.org/10.3390/robotics15040072

APA Style

Martinez-Baselga, D., Lanaspa, D., Riazuelo, L., & Montano, L. (2026). Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots. Robotics, 15(4), 72. https://doi.org/10.3390/robotics15040072

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