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
Artificial fishes: physics, locomotion, perception, behavior
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Interaction and intelligent behavior
Interaction and intelligent behavior
Emergence of collective strategies in a prey-predator game model
Artificial Life
OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Cognitive modeling: knowledge, reasoning and planning for intelligent characters
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Ant algorithms for discrete optimization
Artificial Life
Robot Motion Planning
Evolving collective behavior in an artificial ecology
Artificial Life
Group Behaviors for Systems with Significant Dynamics
Autonomous Robots
Constrained animation of flocks
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
ACM SIGGRAPH 2006 Papers
Parallel simulation of group behaviors
WSC '04 Proceedings of the 36th conference on Winter simulation
Group behavior from video: a data-driven approach to crowd simulation
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive control of real-time crowd navigation in virtual environment
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
A Leader Election Algorithm Within Candidates on Ad Hoc Mobile Networks
ICESS '07 Proceedings of the 3rd international conference on Embedded Software and Systems
Indicative routes for path planning and crowd simulation
Proceedings of the 4th International Conference on Foundations of Digital Games
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A semantic environment model for crowd simulation in multilayered complex environment
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Technical Section: Continuum crowd simulation in complex environments
Computers and Graphics
Leader election based on centrality and connectivity measurements in ad hoc networks
KES-AMSTA'10 Proceedings of the 4th KES international conference on Agent and multi-agent systems: technologies and applications, Part I
Simulating the local behaviour of small pedestrian groups
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
PLEdestrians: a least-effort approach to crowd simulation
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Toward simulating realistic pursuit-evasion using a roadmap-based approach
MIG'10 Proceedings of the Third international conference on Motion in games
Path planning for groups using column generation
MIG'10 Proceedings of the Third international conference on Motion in games
Swarming behavior using probabilistic roadmap techniques
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Roadmap-Based level clearing of buildings
MIG'11 Proceedings of the 4th international conference on Motion in Games
Hybrid long-range collision avoidance for crowd simulation
Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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While many methods to simulate flocking behaviors have been proposed, these techniques usually only provide simplistic navigation and planning capabilities because each flock member's behavior depends only on its local environment. In this work, we investigate how the addition of global information in the form of a roadmap of the environment enables more sophisticated flocking behaviors and supports global navigation and planning. In this paper, we propose new techniques for four distinct group behaviors: homing, goal searching, traversing narrow areas and shepherding. Extending ideas from cognitive modeling, we embed behavior rules in individual flock members and in the roadmap. These embedded behaviors enable the creatures to modify their actions based on their current location and state. For example, the flock might move as an unordered group in open regions and in a follow-the-leader fashion through narrow passages. These behaviors exploit global knowledge of the environment and utilize information gathered by all flock members which is communicated by allowing individual flock members to dynamically update the shared roadmap to reflect (un)desirable routes or regions. We present experimental results showing how the judicious use of simple roadmaps of the environment enables complex behaviors to be obtained at minimal cost. Animations can be viewed at http://parasol.tamu.edu.