171052 20260505142650.0 doi 10.3390/robotics15040072 sideral 149135 ART-2026-149135 eng Martinez-Baselga, Diego Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots 2026 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/AEI/PID2022-139615OB-I00 info:eu-repo/grantAgreement/ES/AEI/PRE2020-094415 info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Lanaspa, Diego Riazuelo, Luis Universidad de Zaragoza (orcid)0000-0002-6722-5541 Montano, Luis Universidad de Zaragoza (orcid)0000-0002-0449-2300 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 15, 4 (2026), 72 Robotics 2218-6581 527262 http://zaguan.unizar.es/record/171052/files/texto_completo.pdf Versión publicada 2397345 http://zaguan.unizar.es/record/171052/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:171052 articulos driver 2026-05-05-13:36:40 ARTICLE