Fast triangulation of the plane with respect to simple polygons
Information and Control
Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Robot Motion Planning
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
Computational Geometry: Algorithms and Applications
Computational Geometry: Algorithms and Applications
Simulating the local behaviour of small pedestrian groups
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
Shortest paths with arbitrary clearance from navigation meshes
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
The Hybrid Reciprocal Velocity Obstacle
IEEE Transactions on Robotics
FAME, soft flock formation control for collective behavior studies and rapid games development
SEAL'12 Proceedings of the 9th international conference on Simulated Evolution and Learning
Goal velocity obstacles for spatial navigation of multiple virtual agents
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
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It is a common artifact of multi-agent motion planning for groups of agents, following similar paths, to converge to a line. This occurs because the agents' immediate goals, also known as waypoints, are frequently a common point in space. Contention for the point goal causes agents to line up and generally interferes with agent motion. By extending the definition of an immediate point goal to a line segment, which we call a "way portal", we enable the agents to better utilize the space available to them in responding to dynamic constraints. We present a novel multi-agent navigation algorithm to efficiently compute the trajectories of autonomous agents using these way portals. We have incorporated the concept into a velocity obstacle-based local navigation model and present a new segment optimization algorithm that efficiently computes a new agent velocity with respect to the way portal. We show how way portal data is extracted from current global navigation data structures, such as navigation meshes. The algorithm is relatively simple to implement and has a small run-time cost (approximately 3 μs per agent.) We highlight its performance in different game-like scenarios and observe improved agent behavior and better utilization of free space.