TY - GEN
T1 - Real-time navigation of independent agents using adaptive roadmaps
AU - Sud, Avneesh
AU - Gayle, Russell
AU - Andersen, Erik
AU - Guy, Stephen
AU - Lin, Ming
AU - Manocha, Dinesh
PY - 2007
Y1 - 2007
N2 - We present a novel algorithm for navigating a large number of independent agents in complex and dynamic environments. We compute adaptive roadmaps to perform global path planning for each agent simultaneously. We take into account dynamic obstacles and inter-agents interaction forces to continuously update the roadmap by using a physically-based agent dynamics simulator. We also introduce the notion of 'link bands' for resolving collisions among multiple agents. We present efficient techniques to compute the guiding path forces and perform lazy updates to the roadmap. In practice, our algorithm can perform real-time navigation of hundreds and thousands of human agents in indoor and outdoor scenes.
AB - We present a novel algorithm for navigating a large number of independent agents in complex and dynamic environments. We compute adaptive roadmaps to perform global path planning for each agent simultaneously. We take into account dynamic obstacles and inter-agents interaction forces to continuously update the roadmap by using a physically-based agent dynamics simulator. We also introduce the notion of 'link bands' for resolving collisions among multiple agents. We present efficient techniques to compute the guiding path forces and perform lazy updates to the roadmap. In practice, our algorithm can perform real-time navigation of hundreds and thousands of human agents in indoor and outdoor scenes.
UR - http://www.scopus.com/inward/record.url?scp=79960002943&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79960002943&partnerID=8YFLogxK
U2 - 10.1145/1315184.1315201
DO - 10.1145/1315184.1315201
M3 - Conference contribution
AN - SCOPUS:79960002943
SN - 9781595938633
T3 - Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST
SP - 99
EP - 107
BT - Proceedings - VRST 2007, ACM Symposium on Virtual Reality Software and Technology
T2 - ACM Symposium on Virtual Reality Software and Technology, VRST 2007
Y2 - 5 November 2007 through 7 November 2007
ER -