Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Real-time robot motion planning using rasterizing computer graphics hardware
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Hierarchical spacetime control
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Behavioral control for real-time simulated human agents
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Multi-level direction of autonomous creatures for real-time virtual environments
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Improv: a system for scripting interactive actors in virtual worlds
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robot Motion Planning
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
An Architecture for Action, Emotion, and Social Behavior
MAAMAW '92 Selected papers from the 4th European Workshop on on Modelling Autonomous Agents in a Multi-Agent World, Artificial Social Systems
The ALIVE system: full-body interaction with autonomous agents
CA '95 Proceedings of the Computer Animation
PG '97 Proceedings of the 5th Pacific Conference on Computer Graphics and Applications
Group behaviors for systems with significant dynamics
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
An Intelligent User Interface with Motion Planning for 3D Navigation
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Motion Planning and Synthesis of Human-Like Characters in Constrained Environments
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Path-planning for RTS games based on potential fields
MIG'10 Proceedings of the Third international conference on Motion in games
Simulating pedestrian behavior with potential fields
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Space-Time planning in dynamic environments with unknown evolution
MIG'11 Proceedings of the 4th international conference on Motion in Games
Space-time planning in changing environments
Computer Animation and Virtual Worlds
A conceptual framework of space subdivision for indoor navigation
Proceedings of the Fifth ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness
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This paper presents a new technique for computing collision-free navigation motions from task-level commands for animated human characters in interactive virtual environments. The algorithm implementation utilizes the hardware rendering pipeline commonly found on graphics accelerator cards to perform fast 2D motion planning. Given a 3D geometric description of an animated character and a level-terrain environment, collision-free navigation paths can be computed between initial and goal locations at interactive rates. Speed is gained by leveraging the graphics hardware to quickly project the obstacle geometry into a 2D bitmap for planning. The bitmap may be searched by any number of standard dynamic programming techniques to produce a final path. Cyclic motion capture data is used along with a simple proportional derivative controller to animate the character as it follows the computed path. The technique has been implemented on an SGI Indigo2 workstation and runs at interactive rates. It allows for real-time modification of the goal locations and obstacle positions for multiple characters in complex environments composed of more than 15,000 triangles.