The complexity of robot motion planning
The complexity of robot motion planning
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Robot Motion Planning
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
From Paths to Trajectories for Multi-body Mobile Robots
Proceedings of the 5th International Symposium on Experimental Robotics V
A 2-stages locomotion planner for digital actors
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Autonomous agents for real-time animation
Autonomous agents for real-time animation
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
A motion capture-based control-space approach for walking mannequins: Research Articles
Computer Animation and Virtual Worlds
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Real-time navigating crowds: scalable simulation and rendering: Research Articles
Computer Animation and Virtual Worlds - CASA 2006
Planning Algorithms
Interactive motion correction and object manipulation
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Real-time navigation of independent agents using adaptive roadmaps
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
Interactive navigation of multiple agents in crowded environments
Proceedings of the 2008 symposium on Interactive 3D graphics and games
An Optimality Principle Governing Human Walking
IEEE Transactions on Robotics
Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping
IEEE Transactions on Robotics
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
Interactive hybrid simulation of large-scale traffic
Proceedings of the 2011 SIGGRAPH Asia Conference
ADAPT: the agent development and prototyping testbed
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
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An enormous amount of Motion Planning techniques has been developed in the past decade specifically targeting applications in Computer Animation. Going beyond the traditional path planning for navigation, recent techniques address challenging problems in cluttered environments ranging from crowd navigation among obstacles to multi-agent cooperative manipulation and to whole-body manipulation and locomotion planning. Given these recent advances, Motion Planning has already become a main tool for controlling autonomous virtual characters and will become crucial for empowering the next generation of Virtual Humans with the Motion Autonomy that will be needed in increasingly complex, interactive and realistic Computer Games and Virtual Reality Applications. These notes present for the first time a systematic and comprehensive exposition of the main Motion Planning techniques that have been developed for applications in Computer Animation, in particular for the animation of Virtual Humans (VHs). These notes comprehensively document the class "Motion Planning and Autonomy for Virtual Humans" delivered at SIGGRAPH 2008. We start with the basic concepts of Motion Planning and then present techniques for increasingly complex problems: ranging from the navigation of single and multiple VHs to object manipulation and synchronization of manipulation and locomotion. We also explain how Motion Planning techniques can handle challenging problems involving underactuated and redundant skeletal structures of Virtual Humans and show examples of complex motions planned in high-dimensional configuration spaces subjected to geometric and kinematic constraints. The advantages of configuration-space Motion Planning are in particular emphasized, for instance in contrast with common approaches based on executing end-effector trajectories with Inverse Kinematics. The described techniques expose the pluridisciplinary aspects of Computer Graphics and Robotics, from the Motion Planning origins in Robotics to its continuous development relying on Graphics tools, to the current increasing need of motion autonomy in Computer Animation. After reading these notes, the reader will obtain a clear understanding of the potential of Motion Planning and the new dimension of motion autonomy that is being achieved by its variety of techniques.