Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Reusable motion synthesis using state-space controllers
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
NeuroAnimator: fast neural network emulation and control of physics-based models
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th 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
Data-driven generation of simulated soccer behaviors
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 3
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Group Behaviors for Systems with Significant Dynamics
Autonomous Robots
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
Snap-together motion: assembling run-time animations
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Characterizing Markov Decision Processes
ECML '02 Proceedings of the 13th European Conference on Machine Learning
CASA '03 Proceedings of the 16th International Conference on Computer Animation and Social Agents (CASA 2003)
Motion synthesis from annotations
ACM SIGGRAPH 2003 Papers
Simulation of leaping, tumbling, landing, and balancing humans
Simulation of leaping, tumbling, landing, and balancing humans
Robust hybrid control for autonomous vehicle motion planning
Robust hybrid control for autonomous vehicle motion planning
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Autonomous behaviors for interactive vehicle animations
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
High-speed planning and reducing memory usage of a precomputed search tree using pruning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interactive hybrid simulation of large-scale traffic
Proceedings of the 2011 SIGGRAPH Asia Conference
A hierarchical approach for primitive-based motion planning and control of autonomous vehicles
Robotics and Autonomous Systems
Adaptive-AR model with drivers' prediction for traffic simulation
International Journal of Computer Games Technology
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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 simulated spacecraft and automobiles performing a variety of autonomous behaviors, including Seek, Pursue, Avoid, Avoid Obstacle, 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.