GVU Technical Report Number:
GIT-GVU-95-18
Title:
Group Behaviors for Systems with Siginificant Dynamics
Authors:
D. Brogan
J. Hodgins
Abstract:
Birds, fish, and many other animals travel as a flock,
school, or herd. Animals in these groups must remain in close
proximity while avoiding collisions with neighbors and with obstacles.
We would like to reproduce this behavior for groups of artificial
creatures with significant dynamics. In this paper we describe an
algorithm for creatures that move as a group and evaluate the
performance of the algorithm with three simulated systems: legged
robots, human-like bicycle riders, and point-mass systems. Both the
legged robots and the bicyclists are dynamic simulations that must
control balance, facing direction, and forward speed as well as
movement with the group. The point-mass systems have minimal dynamics
and are included to facilitate our understanding of the effects of the
dynamics on the performance of the algorithms.
Keywords:
Herds, reactive navigation, dynamic simulation
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