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Better Group Behaviors Using Rule-Based Roadmaps

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Part of the Springer Tracts in Advanced Robotics book series (STAR,volume 7)

Abstract

While techniques exist for simulating group behaviors, these methods usually only provide simplistic navigation and planning capabilities. In this work, we explore the benefits of integrating roadmap-based path planning methods with flocking techniques. We show how group behaviors such as exploring can be facilitated by using dynamic roadmaps (e.g., modifying edge weights) as an implicit means of communication between flock members. Extending ideas from cognitive modeling, we embed behavior rules in individual flock members and in the roadmap. These behavior rules enable the flock members to modify their actions based on their current location and state. We propose new techniques for three distinct group behaviors: homing, exploring (covering and goal searching) and passing through narrow areas. Animations of these behaviors can be viewed at http://parasol.tamu.edu/dsmft.

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© 2004 Springer-Verlag Berlin Heidelberg

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Bayazit, O.B., Lien, JM., Amato, N.M. (2004). Better Group Behaviors Using Rule-Based Roadmaps. In: Boissonnat, JD., Burdick, J., Goldberg, K., Hutchinson, S. (eds) Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45058-0_7

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  • DOI: https://doi.org/10.1007/978-3-540-45058-0_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-07341-0

  • Online ISBN: 978-3-540-45058-0

  • eBook Packages: Springer Book Archive

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