Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
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
Fast computation of generalized Voronoi diagrams using graphics hardware
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Fast and simple 2D geometric proximity queries using graphics hardware
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Robot Motion Planning
Roadmap-Based Flocking for Complex Environments
PG '02 Proceedings of the 10th Pacific Conference on Computer Graphics and Applications
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
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
Fast proximity computation among deformable models using discrete Voronoi diagrams
ACM SIGGRAPH 2006 Papers
ACM SIGGRAPH 2006 Papers
Computer Graphics International 2005
CGI '05 Proceedings of the Computer Graphics International 2005
ClearPath: highly parallel collision avoidance for multi-agent simulation
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Data Driven Evaluation of Crowds
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Imperceptible relaxation of collision avoidance constraints in virtual crowds
Proceedings of the 2011 SIGGRAPH Asia Conference
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We present a novel approach for real-time path planning of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed from the first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues for accurate computation. Our algorithm is used for real-time multi-agent planning in pursuit-evasion and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.