Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
An Efficient Control over Human Running Animation with Extension of Planar Hopper
PG '98 Proceedings of the 6th Pacific Conference on Computer Graphics and Applications
Better group behaviors in complex environments using global roadmaps
ICAL 2003 Proceedings of the eighth international conference on Artificial life
Minimal Energy Control on Trajectory Generation
ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
Finding paths for coherent groups using clearance
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
ACM SIGGRAPH 2006 Papers
Planning Algorithms
Controlling individual agents in high-density crowd simulation
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
A decision network framework for the behavioral animation of virtual humans
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive navigation of multiple agents in crowded environments
Proceedings of the 2008 symposium on Interactive 3D graphics and games
Computational Geometry: Algorithms and Applications
Computational Geometry: Algorithms and Applications
Interactive Control of Large-Crowd Navigation in Virtual Environments Using Vector Fields
IEEE Computer Graphics and Applications
Interactive Navigation of Heterogeneous Agents Using Adaptive Roadmaps
IEEE Transactions on Visualization and Computer Graphics
Virtual Crowds: Methods, Simulation, and Control (Synthesis Lectures on Computer Graphics and Animation)
ClearPath: highly parallel collision avoidance for multi-agent simulation
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Experiment-based modeling, simulation and validation of interactions between virtual walkers
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
A Predictive Collision Avoidance Model for Pedestrian Simulation
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Simulating Crowd Movements Using Fine Grid Cellular Automata
UKSIM '10 Proceedings of the 2010 12th International Conference on Computer Modelling and Simulation
Directing Crowd Simulations Using Navigation Fields
IEEE Transactions on Visualization and Computer Graphics
Autonomous multi-agents in flexible flock formation
MIG'10 Proceedings of the Third international conference on Motion in games
Formation sketching: an approach to stylize groups in crowd simulation
Proceedings of Graphics Interface 2011
Simulating heterogeneous crowd behaviors using personality trait theory
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Scenario space: characterizing coverage, quality, and failure of steering algorithms
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive hybrid simulation of large-scale traffic
Proceedings of the 2011 SIGGRAPH Asia Conference
Improved benchmarking for steering algorithms
MIG'11 Proceedings of the 4th international conference on Motion in Games
Validation of agent-based simulation through human computation: an example of crowd simulation
MABS'11 Proceedings of the 12th international conference on Multi-Agent-Based Simulation
Towards a quantitative approach for comparing crowds
Computer Animation and Virtual Worlds
A unified structure for crowd simulation
Computer Animation and Virtual Worlds
Realistic following behaviors for crowd simulation
Computer Graphics Forum
A novel agent based control scheme for RTS games
Proceedings of The 8th Australasian Conference on Interactive Entertainment: Playing the System
A statistical similarity measure for aggregate crowd dynamics
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Going with the flow: pedestrian efficiency in crowded scenes
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
Politeness improves interactivity in dense crowds
Computer Animation and Virtual Worlds
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
The impact of culture on crowd dynamics: an empirical approach
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
A pattern-based modeling framework for simulating human-like pedestrian steering behaviors
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology
Control of swarm behavior in crossing pedestrians based on temporal/spatial frequencies
Robotics and Autonomous Systems
Technical Section: A GPU-assisted hybrid model for real-time crowd simulations
Computers and Graphics
Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Graphical Models
The Visual Computer: International Journal of Computer Graphics
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We present a new algorithm for simulating large-scale crowds at interactive rates based on the Principle of Least Effort. Our approach uses an optimization method to compute a biomechanically energy-efficient, collision-free trajectory that minimizes the amount of effort for each heterogeneous agent in a large crowd. Moreover, the algorithm can automatically generate many emergent phenomena such as lane formation, crowd compression, edge and wake effects ant others. We compare the results from our simulations to data collected from prior studies in pedestrian and crowd dynamics, and provide visual comparisons with real-world video. In practice, our approach can interactively simulate large crowds with thousands of agents on a desktop PC and naturally generates a diverse set of emergent behaviors.