GVU Technical Report Number:
GIT-GVU-94-13
Title:
Robot Herds: Group Behaviors for Systems with Significant Dynamics
Authors:
Jessica K. Hodgins
David Brogan
Abstract:
Birds, fish, and many other animals are able to move gracefully and
efficiently as a herd, flock, or school. We would like to reproduce this
behavior for herds of artificial creatures with significant dynamics.
This paper develops an algorithm for grouping behaviors and evaluates the
performance of the algorithm on two types of systems: a full dynamic
simulation of a legged robot that must balance as well as move with the
herd and a point mass with minimal dynamics. Robust control algorithms
for group behaviors of dynamic systems will allow us to generate
realistic motion for animation using high-level controls, to develop
synthetic actors for use in virtual environments, mobile robotics, and
perhaps to improve our understanding of the behavior of biological systems.
Keywords:
Herds, reactive navigation, dynamic simultion
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