ClearPath: Highly parallel collision avoidance for multi-agent simulation

Computer Animation, Conference Proceedings

Volumn , Issue , 2009, Pages 177-187

  Guyy, Stephen J ^a   Chhugani, Jatin ^b   Kim, Changkyu ^b   Satish, Nadathur ^b   Lin, Ming ^a   Manocha, Dinesh ^a   Dubey, Pradeep ^b  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

^b INTEL CORPORATION   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DATA PARALLELISM; DISCRETE OPTIMIZATION; HETEROGENEOUS AGENTS; MULTI AGENT SIMULATION; MULTIPLE AGENTS; ORDER OF MAGNITUDE; PERFORMANCE IMPROVEMENTS; QUADRATIC OPTIMIZATION PROBLEMS; REAL TIME SIMULATIONS; THREAD LEVEL PARALLELISM; VELOCITY OBSTACLES;

INTERACTIVE COMPUTER GRAPHICS;

ANIMATION;

EID: 70450243023     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/1599470.1599494     Document Type: Conference Paper

References (37)

1. [BGLM09] BERG J., GUY S. J., LIN M., MANOCHA D.: Reciprocal n-body collision avoidance. In International Symposium on Robotics Research (To Appear) (2009), Springer.
2. [Ble09] BLEIWEISS A.: Multi agent navigation on gpu. http://developer.download.nvidia.com/presentations/2009/GDC/MultiAgentGPU.pdf, 2009.
3. [BLM08] BERG J., LIN M., MANOCHA D.: Reciprocal velocity obstacles for realtime multi-agent navigation. Proc. of IEEE Conference on Robotics and Automation (2008), 1928-1935.
4. [BPS*08] BERG J., PATIL S., SEWALL J., MANOCHA D., LIN M.: Interactive navigation of individual agents in crowded environments. Proc. of ACM Symposium on I3D (2008), 139-147.
5. [Cam97] CAMERON S.: Enhancing GJK: Computing minimum and penetration distance between convex polyhedra. IEEE International Conf. on Robotics and Automation (1997), 3112-3117.
6. [CM04] COURTY N., MUSSE S.: FastCrowd: Real-Time Simulation and Interaction with Large Crowds based on Graphics Hardware. Tech. rep., INRIA, March 2004.
7. [Eri04] ERICSON C.: Real-Time Collision Detection. Morgan Kaufmann, 2004.
8. [FN06] FOUDIL C., NOUREDDINE D.: Collision avoidance in crowd simulation with priority rules. European Journal of Scientific Research 15, 1 (2006).
9. [FS98] FIORINI P., SHILLER Z.: Motion planning in dynamic environments using velocity obstacles. International Journal on Robotics Research 17, 7 (1998), 760-772.
10. [FSL07] FULGENZI C., SPALANZANI A., LAUGIER C.: Dynamic obstacle avoidance in uncertain environment combining PVOs and occupancy grid. In ICRA (2007), pp. 1610-1616.
11. [FT87] FAVERJON B., TOURNASSOUD P.: A local based approach for path planning of manipulators with a high number of degrees of freedom. ICRA (1987), 1152-1159.
12. [HBJW05] HELBING D., BUZNA L., JOHANSSON A., WERNER T.: Self-organized pedestrian crowd dynamics and design solutions: Experiments, simulations and design solutions. Transportation Science 39, 1 (2005), 1-24.
13. [Kan00] KANN V.: Maximum quadratic prog. www.nada.kth.se /̃viggo/wwwcompendium/node203.html, 2000.
14. [KLK*08] KANEHIRO F., LAMIRAUN F., KANOUN O., YOSHIDA E., LAUMOND H.: A local collision avoidance method for non-strictly convex polyhedral. In Robotics: Science and Systems (2008).
15. [KP07] KLUGE B., PRASSLER E.: Reflective navigation: Individual behaviors and group behaviors. In Proc. of International Conf. on Robotics and Automation (2007), pp. 4172-4177.
16. [KSHF09] KAPADIA M., SINGH S., HEWLETT W., FALOUTSOS P.: Egocentric affordance fields in pedestrian steering. In I3D '09 (2009), ACM, pp. 215-223.
17. [LaV06] LAVALLE S. M.: Planning Algorithms. Cambridge University Press (also at http://msl.cs.uiuc.edu/planning/), 2006.
18. [LD04] LAMARCHE F., DONIKIAN S.: Crowd of virtual humans: a new approach for real-time navigation in complex and structured environments. CG Forum 23, 3 (2004), 509-518.
19. [Lin93] LIN M.: Efficient Collision Detection for Animation and Robotics. PhD thesis, U.C. Berkeley, December 1993.
20. [MKH90] MOHR E., KRANZ D. A., HALSTEAD JR. R. H.: Lazy task creation: a technique for increasing the granularity of parallel programs. In Proc. of the ACM conference on LISP and functional programming (1990).
21. [MT97] MUSSE S. R., THALMANN D.: A model of human crowd behavior: Group inter-relationship and collision detection analysis. Computer Animation and Simulation (1997), 39-51.
22. [PAB08] PELECHANO N., ALLBECK J., BADLER N.: Virtual Crowds: Methods, Simulation, and Control. M.C. Publ., 2008.
23. [PPD07] PARIS S., PETTRE J., DONIKIAN S.: Pedestrian reactive navigation for crowd simulation: a predictive approac. Computer Graphics Forum 26 (2007), 665-674.
24. [QMHz03] QUINN M. J., METOYER R. A., HUNTERZAWORSKI K.: Parallel implementation of the social forces model. In in Proceedings of the Second International Conference in Pedestrian and Evacuation Dynamics (2003), pp. 63-74.
25. [Rey87] REYNOLDS C. W.: Flocks, herds and schools: A distributed behavioral model. ACM SIGGRAPH Computer Graphics 21 (1987), 25-34.
26. [Rey99] REYNOLDS C. W.: Steering behaviors for autonomous characters. Game Developers Conference (1999).
27. [Rey06] REYNOLDS C.: Big fast crowds on ps3. In Sandbox '06: Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames (2006), ACM, pp. 113-121.
28. [SAC*07] SUD A., ANDERSEN E., CURTIS S., LIN M., MANOCHA D.: Real-time path planning for virtual agents in dynamic environments. Proc. of IEEE VR (2007), 91-98.
29. [SCS*08] SEILER L., CARMEAN D., SPRANGLE E., FORSYTH T., ET AL.: Larrabee: A Many-Core x86 Architecture for Visual Computing. ACM Trans. Graph. 27, 3 (2008), 1-15.
30. [SGA*07] SUD A., GAYLE R., ANDERSEN E., GUY S., LIN M., MANOCHA D.: Real-time navigation of independent agents using adaptive roadmaps. Proc. of ACM VRST (2007), 99-106.
31. [SLS01] SHILLER Z., LARGE F., SEKHAVAT S.: Motion planning in dynamic environments: obstacles moving along arbitrary trajectories. In ICRA (2001), vol. 4, pp. 3716.3721.
32. [SNH01] SUGIYAMA Y., NAKAYAMA A., HASEBE K.: 2-dimensional optimal velocity models for granular flows. In Pedestrian and Evacuation Dynamics (2001), pp. 155-160.
33. [TCP06] TREUILLE A., COOPER S., POPOVIC Z.: Continuum crowds. Proc. of ACM SIGGRAPH (2006), 1160 - 1168.
34. [TOCD06] THALMANN D., O'SULLIVAN C., CIECHOMSKI P., DOBBYN S.: Populating Virtual Environments with Crowds. Eurographics Tutorial Notes, 2006.
35. [vdBLM08] VAN DEN BERG J., LIN M., MANOCHA D.: Reciprocal velocity obstacles for realtime multi-agent navigation. Proc. of IEEE Conference on Robotics and Automation (2008).
36. [YMMT08] YERSIN B., MAÏM J., MORINI F., THALMANN D.: Real-time crowd motion planning. The Visual Computer 24 (Oct 2008), 859-870.
37. [YT07] YU Q., TERZOPOULOS D.: A decision network frame-work for the behavioral animation of virtual humans. In Proc. of the Symposium on Computer Animation (2007), pp. 119-128.