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Space-Time Group Motion Planning

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Algorithmic Foundations of Robotics X

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 86))

Abstract

We present a novel approach for planning and directing heterogeneous groups of virtual agents based on techniques from linear programming. Our method efficiently identifies the most promising paths in both time and space and provides an optimal distribution of the groups’ members over these paths such that their average traveling time is minimized. The computed space-time plan is combined with an agent-based steering method to handle collisions and generate the final motions of the agents. Our overall solution is applicable to a variety of virtual environment applications, such as computer games and crowd simulators. We highlight its potential on different scenarios and evaluate the results from our simulations using a number of quantitative quality metrics. In practice, our system runs at interactive rates and can solve complex planning problems involving one or multiple groups.

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Author information

Authors and Affiliations

  1. Department of CS&E, University of Minnesota, Minneapolis, USA

    Ioannis Karamouzas

  2. Utrecht University, Utrecht, The Netherlands

    Roland Geraerts & A. Frank van der Stappen

Authors
  1. Ioannis Karamouzas
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  2. Roland Geraerts
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  3. A. Frank van der Stappen
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Corresponding author

Correspondence to Ioannis Karamouzas .

Editor information

Editors and Affiliations

  1. Associate Professor of Aeronautics and, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Emilio Frazzoli

  2. MIT Comp. Sci. & Artificial Intel. Lab., Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Tomas Lozano-Perez

  3. Robust Robotics Group, Massachusetts Institute of Technology CSAIL, Cambridge, Massachusetts, USA

    Nicholas Roy

  4. Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Daniela Rus

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Karamouzas, I., Geraerts, R., van der Stappen, A.F. (2013). Space-Time Group Motion Planning. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_14

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  • DOI: https://doi.org/10.1007/978-3-642-36279-8_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36278-1

  • Online ISBN: 978-3-642-36279-8

  • eBook Packages: EngineeringEngineering (R0)

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