RVO2 Library
- Software
- Navigation and mapping
- Library
A C++ library implementing optimal reciprocal collision avoidance in two dimensions, so that many independent agents can move without colliding while sharing a workspace.
Source on GitHub: github.com/snape/RVO2 (opens in a new tab). Facts read at commit 75822bb (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 75822bb (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Implements the ORCA algorithm, letting each agent take half the responsibility for avoiding pairwise collisions without communication.
- Reduces each agent's action choice to a low-dimensional linear program, with smooth resulting motions.
- Offers a simple API where static obstacles, agents and preferred velocities are specified and the simulation advances step by step.
- The simulation can be accessed and changed while it runs.
- Uses OpenMP to run on multiple processors when they are available.
- Reports collision-free actions for thousands of agents in only a few milliseconds in dense, complex scenarios.
Written by Robotheca from the project's README (opens in a new tab) at commit 75822bb.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 26 Sept 2026 on main
- Latest release
- v2.0.2 (11 May 2016)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
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