Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Lazy task creation: a technique for increasing the granularity of parallel programs
LFP '90 Proceedings of the 1990 ACM conference on LISP and functional programming
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
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
A decision network framework for the behavioral animation of virtual humans
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
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
Larrabee: a many-core x86 architecture for visual computing
ACM SIGGRAPH 2008 papers
Real-time path planning for virtual agents in dynamic environments
ACM SIGGRAPH 2008 classes
Real-time crowd motion planning: Scalable Avoidance and Group Behavior
The Visual Computer: International Journal of Computer Graphics
Egocentric affordance fields in pedestrian steering
Proceedings of the 2009 symposium on Interactive 3D graphics and games
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
Interactive Modeling, Simulation and Control of Large-Scale Crowds and Traffic
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Real-time multi-agent path planning on arbitrary surfaces
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A synthetic-vision based steering approach for crowd simulation
ACM SIGGRAPH 2010 papers
Modeling collision avoidance behavior for virtual humans
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 2 - Volume 2
Technical Section: Continuum crowd simulation in complex environments
Computers and Graphics
Virtual cityscapes: recent advances in crowd modeling and traffic simulation
Frontiers of Computer Science in China
Distributed smart cameras for hard real-time control
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
ACM SIGGRAPH Asia 2010 papers
Simulating the local behaviour of small pedestrian groups
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
Simulating believable crowd and group behaviors
ACM SIGGRAPH ASIA 2010 Courses
PLEdestrians: a least-effort approach to crowd simulation
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Autonomous multi-agents in flexible flock formation
MIG'10 Proceedings of the Third international conference on Motion in games
Distributed reactive collision avoidance
Autonomous Robots
A unified structure for crowd simulation
Computer Animation and Virtual Worlds
Realistic following behaviors for crowd simulation
Computer Graphics Forum
Multi-robot collision-free navigation based on reciprocal orientation
Robotics and Autonomous Systems
A parallel fipa architecture based on GPU for games and real time simulations
ICEC'12 Proceedings of the 11th international conference on Entertainment Computing
Politeness improves interactivity in dense crowds
Computer Animation and Virtual Worlds
Journal of Parallel and Distributed Computing
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Hybrid long-range collision avoidance for crowd simulation
Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Context-sensitive data-driven crowd simulation
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Proceedings of Motion on Games
International Journal of High Performance Computing Applications
| Hi-index | 0.01 |
We present a new local collision avoidance algorithm between multiple agents for real-time simulations. Our approach extends the notion of velocity obstacles from robotics and formulates the conditions for collision free navigation as a quadratic optimization problem. We use a discrete optimization method to efficiently compute the motion of each agent. This resulting algorithm can be parallelized by exploiting data-parallelism and thread-level parallelism. The overall approach, ClearPath, is general and can robustly handle dense scenarios with tens or hundreds of thousands of heterogeneous agents in a few milli-seconds. As compared to prior collision avoidance algorithms, we observe more than an order of magnitude performance improvement.