Motion of Crowds
Swarms of Rational Agents with Conflicting Goals
Benson Limketkai - Romain Thibaux
Agents are…
It involves…
Intelligent
Planning
Adaptable
Agents are…
It involves…
Intelligent
Planning
Adaptable
Re-planning
Agents are…
It involves…
Intelligent
Planning
Adaptable
Re-planning
Numerous
Local Interactions
Planning
Single Agent
• Probabilistic Roadmap
• A* search
Danger
Detection
• Bounds on Collision Time
• Heap of Bounds
Heap of Bounds
T
Soon
Later
Danger
Detection
• Bounds on Collision Time
• Heap of Bounds
Heap of Bounds
Soon
Later
Danger
Detection
• Bounds on Collision Time
• Heap of Bounds
• Detection Threshold
Heap of Bounds
Soon
Later
List of Neighbors
Danger
Detection
• Bounds on Collision Time
• Heap of Bounds
• Detection Threshold
Heap of Bounds
Soon
Later
List of Neighbors
Danger
Detection
• Bounds on Collision Time
• Heap of Bounds
• Detection Threshold
Heap of Bounds
Soon
Later
List of Neighbors
Intention
Guessing
• Motion Extrapolation
• Can Be Wrong !
• Mistakes Later Detected
Mistake detected only
when
reaches
.
• A* in Space + Time
Replanning
• Cylinder Intersections
• Agents can « Wait »
Time
Demonstration