d-ORCA: Distributed Optimal Reciprocal Collision Avoidance, the first decentralized collision avoidance simulation package for quadrotor swarms. Users of the package can simulate a swarm of up to 50 quadrotors which can avoid collisions with each other and with static obstacles in a known environment, and easily add and test their own perception or global path planning code with the package.
Menge: A Modular Framework for Crowd Movement Simulation.
RVO2: Reciprocal Collision Avoidance for Real-Time Multi-Agent Simulation.
HRVO: Hybrid Reciprocal Velocity Obstacle.