Abstract
Numerous path planning solutions have been proposed to solve the navigation problem in static environments, potentially populated with dynamic obstacles. However, in dynamic environments, moving objects can be used to reach new locations. In this paper, we propose an online planning algorithm for dynamically changing environments with unknown evolution. This method focuses on accessibility and on the use of objects movements to reach a given target. Among other examples, we will show that this algorithm is able to find a path through moving platforms to reach a target located on a surface that is never directly accessible. We will also show that the proposed representation enables several kind of adaptations such as avoiding moving obstacles or adapting the character postures to environmental constraints.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Van den Berg, J., Ferguson, D., Kuffner, J.: Anytime path planning and replanning in dynamic environments. In: Proc. IEEE ICRA (2006)
Van den Berg, J., Lin, M., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation. In: Proc. IEEE ICRA (2008)
Choi, M.G., Lee, J., Shin, S.Y.: Planning biped locomotion using motion capture data and probabilistic roadmaps. ACM Transactions on Graphics 22(2) (2003)
Gayle, R., Sud, A., Lin, M., Manocha, D.: Reactive deformation roadmaps: motion planning of multiple robots in dynamic environments. In: IEEE IROS (2007)
Hoff III, K.E., Keyser, J., Lin, M., Manocha, D., Culver, T.: Fast computation of generalized voronoi diagrams using graphics hardware. Computer Graphics 33 (1999)
Jaillet, L., Simeon, T.: A prm-based motion planner for dynamically changing environments. In: IEEE International Conf. IROS (2004)
Kallmann, M., Bieri, H., Thalmann, D.: Fully dynamic constrained delaunay triangulations. Geometric Modelling for Scientific Visualization (2003)
Kallmann, M., Matarić, M.: Motion planning using dynamic roadmaps. In: Proc. of the International Conference on Robotics and Automation (2004)
Kavraki, L., Svestka, P., Latombe, J.C., Overmars, M.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces (1994)
Kuffner, J.J.: Goal-Directed Navigation for Animated Characters Using Real-Time Path Planning and Control. In: Magnenat-Thalmann, N., Thalmann, D. (eds.) CAPTECH 1998. LNCS (LNAI), vol. 1537, pp. 171–186. Springer, Heidelberg (1998)
Kuffner, J.J., LaValle, S.M.: Rrt-connect: An efficient approach to single-query path planning. In: IEEE Int. Conf. on Robotics and Automation (2000)
Lamarche, F.: Topoplan: a topological path planner for real time human navigation under floor and ceiling constraints. Computer Graphics Forum (2)
Latombe, J.C.: Robot Motion Planning. Kluwer Academic Publishers (1991)
Lau, M., Kuffner, J.: Behavior planning for character animation. In: Proc. of Symposium on Computer Animation (2005)
LaValle, S.M.: Planning Algorithms. Cambridge University Press (2006)
Levine, S., Lee, Y., Koltun, V., Popović, Z.: Space-time planning with parameterized locomotion controllers. Transactions on Graphics (TOG) 30(3) (2011)
Li, T.Y., Huang, P.Z.: Planning humanoid motions with striding ability in a virtual environment. In: Int. Conf. on Robotics and Automation (2004)
Pabst, S., Koch, A., Straßer, W.: Fast and scalable cpu/gpu collision detection for rigid and deformable surfaces. Computer Graphics Forum 29 (2010)
Pan, J., Lauterbach, C., Manocha, D.: g-planner: Real-time motion planning and global navigation using gpus. In: AAAI Conference on Artificial Intelligence (2010)
Safonova, A., Hodgins, J.K.: Construction and optimal search of interpolated motions graphs. ACM Transactions on Graphics 26(3) (2007)
Shiller, Z., Yamane, K., Nakamura, Y.: Planning motion patterns of human figures using a multi-layered grid and the dynamics filter. In: IEEE ICRA (2001)
Sud, A., Gayle, R., Andersen, E., Guy, S., Lin, M., Manocha, D.: Real-time navigation of independent agents using adaptive roadmaps. In: Symposium on Virtual Reality Software and Technology (2007)
Teschner, M., Kimmerle, S., Heidelberger, B., Zachmann, G., Raghupathi, L., Fuhrmann, A., Cani, M., Faure, F., Magnenat-Thalmann, N., Strasser, W., et al.: Collision detection for deformable objects. In: CGF, vol. 24 (2005)
Zucker, M., Kuffner, J., Branicky, M.: Multipartite rrts for rapid replanning in dynamic environments. In: IEEE ICRA (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lopez, T., Lamarche, F., Li, TY. (2011). Space-Time Planning in Dynamic Environments with Unknown Evolution. In: Allbeck, J.M., Faloutsos, P. (eds) Motion in Games. MIG 2011. Lecture Notes in Computer Science, vol 7060. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25090-3_27
Download citation
DOI: https://doi.org/10.1007/978-3-642-25090-3_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25089-7
Online ISBN: 978-3-642-25090-3
eBook Packages: Computer ScienceComputer Science (R0)