Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Voronoi diagrams and Delaunay triangulations
Handbook of discrete and computational geometry
AI Game Programming Wisdom
AI Game Programming Wisdom
Robot Motion Planning and Control
Robot Motion Planning and Control
Robot Motion Planning
Collision-Free Object Movement Using Vector Fields
IEEE Computer Graphics and Applications
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
A 2-stages locomotion planner for digital actors
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
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
Real-time navigating crowds: scalable simulation and rendering: Research Articles
Computer Animation and Virtual Worlds - CASA 2006
Planning Algorithms
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
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This paper presents a solution to interactive navigation planning and real-time simulation of a very large number of entities moving in a virtual environment. From the environment geometry analysis, we deduce a structure called navigation graph, which is the base to our method. After the description of this structure, we introduce a set of algorithms dedicated to answer navigation queries with a set of various solution paths and to execute the planned navigation in an efficient manner. We equally demonstrate method performance and robustness over several examples.