Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
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One of the major challenges the Israel Defense Forces (IDF) Ground Forces (GF) Battle Lab (BL) has been facing in recent years is the introduction of new simulation technologies and methods, under tight development schedule constraints. Introducing new technologies requires a "proof of concept" process in order to decide on the profitability of further development. Using Open Source software solutions in the BL helped make this process quicker and more efficient. The BL has been developing its proprietary Computer Generated Forces (CGF) for approximately 10 years. This CGF is mainly intended for simulating ground entities and has various capabilities for autonomous movement. Over the years, as the visual systems have improved and due to the introduction of urban environments simulation, the need for realistic movement characteristics, especially human, became important. An in-house solution, developed by the CGF team, appeared to consume too much development effort and was not extendable enough. After analyzing the problem and reviewing various third-party solutions, the CGF team decided on using an Open Source (OS) library called OpenSteer. Until recently, ground vehicle simulations in the BL used a low fidelity non-physical movement mode, based on ground clamping. In 2006 the BL got involved in research areas related to Unmanned Ground Vehicles (UGVs) and human-robotics interactions. During early research stages it became clear that it would be necessary to simulate the UGV dynamics in higher fidelity than was done before. The development team decided to initiate the "proof of concept" process before full scale development. Therefore a quick solution for a high-fidelity vehicle simulation was searched for. After a brief review of third party solutions, an OS library, Open Dynamics Engine (ODE) was chosen. Developing a UGV simulation required an autonomous movement model which appeared to have similar characteristics to the one developed by the CGF team based on OpenSteer. Since OpenSteer was not originally intended for simulating rigid-body vehicles, the development team faced the challenge of integrating both products, OpenSteer and ODE. This paper will describe the steps taken in order to assimilate OS products in the BL simulation test-bed and lessons learned.