Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Cognitive modeling: knowledge, reasoning and planning for intelligent characters
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Intuitive Crowd Behaviour in Dense Urban Environments using Local Laws
TPCG '03 Proceedings of the Theory and Practice of Computer Graphics 2003
Finding paths for coherent groups using clearance
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast and accurate goal-directed motion synthesis for crowds
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive 3D distance field computation using linear factorization
I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
ACM SIGGRAPH 2006 Papers
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Planning Algorithms
Self-Organized Pedestrian Crowd Dynamics: Experiments, Simulations, and Design Solutions
Transportation Science
Navigating virtual agents in online virtual worlds
Web3D '08 Proceedings of the 13th international symposium on 3D web technology
Motion planning and autonomy for virtual humans
ACM SIGGRAPH 2008 classes
ClearPath: highly parallel collision avoidance for multi-agent simulation
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
SteerBug: an interactive framework for specifying and detecting steering behaviors
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A semantic environment model for crowd simulation in multilayered complex environment
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Exploiting Motion Capture to Enhance Avoidance Behaviour in Games
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
A Predictive Collision Avoidance Model for Pedestrian Simulation
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
An Open Framework for Developing, Evaluating, and Sharing Steering Algorithms
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
A modular framework for adaptive agent-based steering
I3D '11 Symposium on Interactive 3D Graphics and Games
Space-time planning with parameterized locomotion controllers
ACM Transactions on Graphics (TOG)
Scenario space: characterizing coverage, quality, and failure of steering algorithms
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Way portals: efficient multi-agent navigation with line-segment goals
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Space-Time planning in dynamic environments with unknown evolution
MIG'11 Proceedings of the 4th international conference on Motion in Games
Space-time planning in changing environments
Computer Animation and Virtual Worlds
A unified structure for crowd simulation
Computer Animation and Virtual Worlds
Populating ancient pompeii with crowds of virtual romans
VAST'07 Proceedings of the 8th International conference on Virtual Reality, Archaeology and Intelligent Cultural Heritage
A navigation mesh for dynamic environments
Computer Animation and Virtual Worlds
Hybrid long-range collision avoidance for crowd simulation
Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Multi-domain real-time planning in dynamic environments
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A pattern-based modeling framework for simulating human-like pedestrian steering behaviors
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
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We present a novel algorithm for navigating a large number of independent agents in complex and dynamic environments. We compute adaptive roadmaps to perform global path planning for each agent simultaneously. We take into account dynamic obstacles and inter-agents interaction forces to continuously update the roadmap by using a physically-based agent dynamics simulator. We also introduce the notion of 'link bands' for resolving collisions among multiple agents. We present efficient techniques to compute the guiding path forces and perform lazy updates to the roadmap. In practice, our algorithm can perform real-time navigation of hundreds and thousands of human agents in indoor and outdoor scenes.