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from the introduction: "Collision avoidance and navigation among virtual agents is an important component of modern video games. Recent de- velopments in commodity hardware, in particular the utiliza- tion of multi-core and many-core architectures in personal computers and consoles are allowing large numbers of vir- tual agents to be incorporated into game levels in increasing numbers and with increasing fidelity. As a result, there is a need for efficient techniques to automatically generate real- istic behaviors for such groups of virtual agents"

Abstract: "Collision avoidance and multi-agent navigation is an important component of modern video games. Recent developments in commodity hardware, in particular the utilization of multi-core and many-core architectures in personal computers and consoles are allowing large numbers of virtual agents to be incorporated into game levels in increasing numbers. We present the hybrid reciprocal velocity obstacle and optimal reciprocal collision avoidance methods for reciprocal collision avoidance and navigation in video games and described their implementations in C++ as HRVO Library and RVO2 Library. The libraries can efficiently simulate groups of twenty-five to one thousand virtual agents in dense conditions and around moving and static obstacles."