{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T04:57:05Z","timestamp":1775278625005,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T00:00:00Z","timestamp":1774828800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/robotics15040072","type":"journal-article","created":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T13:41:53Z","timestamp":1774878113000},"page":"72","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive Optimal Collision Avoidance of Dynamic Agents for Differential-Drive Robots"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2029-2851","authenticated-orcid":false,"given":"Diego","family":"Martinez-Baselga","sequence":"first","affiliation":[{"name":"Institute of Engineering Research (I3A), University of Zaragoza, 50018 Zaragoza, Spain"},{"name":"Department of Cognitive Robotics, Delft University of Technology, 2628CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-6912-495X","authenticated-orcid":false,"given":"Diego","family":"Lanaspa","sequence":"additional","affiliation":[{"name":"Institute of Engineering Research (I3A), University of Zaragoza, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6722-5541","authenticated-orcid":false,"given":"Luis","family":"Riazuelo","sequence":"additional","affiliation":[{"name":"Institute of Engineering Research (I3A), University of Zaragoza, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0449-2300","authenticated-orcid":false,"given":"Luis","family":"Montano","sequence":"additional","affiliation":[{"name":"Institute of Engineering Research (I3A), University of Zaragoza, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2026,3,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"760","DOI":"10.1177\/027836499801700706","article-title":"Motion planning in dynamic environments using velocity obstacles","volume":"17","author":"Fiorini","year":"1998","journal-title":"Int. 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