Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh...
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Transcript of Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh...
![Page 1: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/1.jpg)
Real-time Navigation of Independent Agents
Using Adaptive Roadmaps
Presenter: Robin van Olst
![Page 2: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/2.jpg)
The Authors
Avneesh Sud Russell Gayle Erik Andersen
Stephen Guy Ming Lin Dinesh Manocha
![Page 3: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/3.jpg)
Elastic Bands – Quinlan and Khatib, 1993 Elastic Roadmaps – Yang and Brock, 2006
Real-time path planning for virtual agents in dynamics environments – Sud et al., 2006◦ Voronoi diagram generation using a GPU
Planning algorithms – LaValle, 2006◦ Random sampling
Self-organized pedestrian crowd dynamics and design solutions – Helbing, 2003◦ Local dynamics model (social forces)
Related work
![Page 4: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/4.jpg)
Adaptive Elastic Roadmaps (AERO)◦ Global path planning method◦ Graph structure adapts to dynamic environments
Link bands◦ Local dynamics model◦ Augmented to AERO
Simulates a thousand of heterogeneous agents individually in real-time
Movie time!
Introduction
![Page 5: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/5.jpg)
Adaptive Elastic Roadmaps (AERO)◦ Model description
Navigation with AERO◦ Link bands◦ Local dynamics model◦ Behaviour model
Implementation and results
Assessment
Outline
![Page 6: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/6.jpg)
Based on a Generalized Voronoi diagram◦ Provides good initial clearance◦ Computes proximity information
Adaptive Elastic Roadmaps (AERO)
![Page 7: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/7.jpg)
The Adaptive Elastic Roadmap◦ Consists of:
Milestones Links
Particles
◦ Is a guiding path for agents Find with graph search algorithms (A*)
Obstacles may block a path◦ Forces are applied to AERO
AERO Representation
![Page 8: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/8.jpg)
Force on particles and milestones:
Internal forces:◦ Prevent unnecessary link deformation◦ Prevent roadmap drifting
External forces:◦ Respond to obstacle motion
AERO Force Computation
![Page 9: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/9.jpg)
Necessary when a link is blocked Removal criteria
◦ Physics-based A link exceeds its stretching threshold
◦ Geometric-based The short distance to all obstacle is less than the
largest radius assign to an agent
AERO Link Removal
![Page 10: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/10.jpg)
Repair removed links1. Check removed links2. Check disconnected milestones3. Repair is biased towards the area in the wake of
moving obstacles Lazy and incremental
Explore for new paths◦ Uses random sampling
Movie!
AERO Link Addition
![Page 11: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/11.jpg)
Adaptive Elastic Roadmaps (AERO)◦ Model description
Navigation with AERO◦ Link bands◦ Local dynamics model◦ Behaviour model
Implementation and results
Assessment
Outline
![Page 12: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/12.jpg)
Region of free space close to the nearest link◦ Space provides a collision-free path
Path planning◦ Starts at the nearest link◦ Each link is assigned a weight:
◦ Function of: link length, band width and the number of actors present on the band Each is weighted
High α: choose shortest paths (used for slow agents) High β: avoids narrow paths High γ: choose less crowded paths (used for aggressive agents)
AERO Link Bands
![Page 13: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/13.jpg)
Local dynamics simulation◦ Helbing’s social forces model:
◦ Modified to add discomfort zones in front of moving obstacles Repulsive forces are biased along the motion of
obstacles
AERO Navigation: Link Bands
![Page 14: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/14.jpg)
Agents can stand still, walk or jog◦ Depends on velocity◦ Uses non-parallel thresholds
Prevents oscillations◦ Aggressive agents prefer to jog
Higher maximum velocity
AERO Behaviour Modeling
![Page 15: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/15.jpg)
Adaptive Elastic Roadmaps (AERO)◦ Model description
Navigation with AERO◦ Link bands◦ Local dynamics model◦ Behaviour model
Implementation and results
Assessment
Outline
![Page 16: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/16.jpg)
3Ghz Pentium D CPU, 2GB RAM NVIDIA GeForce 7900 GPU, 512MB OpenGL
Optimizations◦ Spatial hash table of all entities and links
Efficient lookups and proximity computation◦ Voronoi diagram of all obstacles is computed
Scan a window to get all the obstacles within a certain range
AERO Implementation
![Page 17: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/17.jpg)
Performance (in ms)
Cited in ‘Abnormal crowd behavior detection using social force model’ by Mehran et al.
Results
![Page 18: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/18.jpg)
Adaptive Elastic Roadmaps (AERO)◦ Model description
Navigation with AERO◦ Link bands◦ Local dynamics model◦ Behaviour model
Implementation and results
Assessment
Outline
![Page 19: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/19.jpg)
Adapts to dynamic obstacles◦ Handles changes in free space connectivity
Relates to real humans?
Able to simulate a thousand independently moving heterogeneous agents in real-time◦ Efficient
No assumptions on motion
Positive Points
![Page 20: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/20.jpg)
Unrealistic high-DoF human motion◦ Only 3-DoF motion supported
Computed paths may not be optimal
Convergence is not guaranteed◦ Agents may get stuck in local minima
Limitations
![Page 21: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/21.jpg)
Agents require a goal◦ No wandering
No grouping◦ Does not relate to real humans
Video shows rapid changes in orientation
Probably not able to simulate denser crowds
Negative Points
![Page 22: Presenter: Robin van Olst. Avneesh SudRussell Gayle Erik Andersen Stephen GuyMing Lin Dinesh Manocha.](https://reader035.fdocuments.us/reader035/viewer/2022062714/56649d2e5503460f94a05012/html5/thumbnails/22.jpg)
More efficient local dynamics model?
Complement method with:◦ Continuum Crowds’ discomfort fields◦ Navigational Fields’ directional preference
Suggestions