David Brogan
University of Virginia
Jessica K. Hodgins
Carnegie Mellon University
Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robobts and Systems
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 neigh-
bors and with obstacles. We would like to reproduce
this behavior for groups of artificial creatures with sig-
nificant dynamics. In this paper we describe an algo-
rithm 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.
Paper
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