SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Sampling plausible solutions to multi-body constraint problems
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Goal-Directed Navigation for Animated Characters Using Real-Time Path Planning and Control
CAPTECH '98 Proceedings of the International Workshop on Modelling and Motion Capture Techniques for Virtual Environments
Constrained animation of flocks
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
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Birds, fish, and many other animals travel as a flock, school, or herd. Animals in these groups must remain in close proximity while avoiding collisions with neighbors and with obstacles. We would like to reproduce this behavior for groups of artificial creatures with significant dynamics. In this paper we describe an algorithm for creatures that move as a group and evaluate the performance of the algorithm with three simulated systems: legged robots, human-like bicycle riders, and point-mass systems. Both the legged robots and the bicyclists are dynamic simulations that must control balance, facing direction, and forward speed as well as movement with the group. The point-mass systems have minimal dynamics and are included to facilitate our understanding of the effects of the dynamics on the performance of the algorithms.