Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Simulation level of detail for multiagent control
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Group Behaviors for Systems with Significant Dynamics
Autonomous Robots
Characterizing Markov Decision Processes
ECML '02 Proceedings of the 13th European Conference on Machine Learning
Robust hybrid control for autonomous vehicle motion planning
Robust hybrid control for autonomous vehicle motion planning
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Autonomous behaviors for interactive vehicle animations
Graphical Models - Special issue on SCA 2004
Relaxed Steering towards Oriented Region Goals
Motion in Games
Data Based Steering of Virtual Human Using a Velocity-Space Approach
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Survivability: measuring and ensuring path diversity
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Lessons from research on interaction with virtual environments
Journal of Network and Computer Applications
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We present a method for synthesizing animations of autonomous space, water, and land-based vehicles in games or other interactive simulations. Controlling the motion of such vehicles to achieve a desirable behavior is difficult due to the constraints imposed by the system dynamics. We combine real-time path planning and a simplified physics model to automatically compute control actions to drive a vehicle from an input state to desirable output states based on a behavior cost function. Both offline trajectory preprocessing and online search are used to build an animation framework suitable for interactive vehicle simulations. We demonstrate synthesized animations of spacecraft performing a variety of autonomous behaviors, including Seek, Pursue, Avoid, Avoid Collision, and Flee. We also explore several enhancements to the basic planning algorithm and examine the resulting tradeoffs in runtime performance and quality of the generated motion.