## Real-time path planning for virtual agents in dynamic environments (2007)

Venue: | PROC. OF IEEE VR |

Citations: | 20 - 7 self |

### BibTeX

@INPROCEEDINGS{Sud07real-timepath,

author = {Avneesh Sud and Erik Andersen and Sean Curtis and Ming Lin and Dinesh Manocha},

title = { Real-time path planning for virtual agents in dynamic environments},

booktitle = {PROC. OF IEEE VR},

year = {2007},

pages = {91--98},

publisher = {}

}

### OpenURL

### Abstract

We present a novel approach for real-time path planning of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed from the first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues for accurate computation. Our algorithm is used for real-time multi-agent planning in pursuit-evasion and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.

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Citation Context ...agent navigation graph” or MaNG and compute it efficiently using GPUaccelerated discrete Voronoi diagrams. Voronoi diagrams have been widely used for path planning computations in static environments =-=[6, 20]-=- and we extend these approaches to dynamic environments. Voronoi diagrams encode the connectivity of the space and provide a path of maximal clearance for a robot from other obstacles. In order to use... |

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